ekf2: migrate uorb events to events interface

.editorconfig

@@ -1,14 +0,0 @@
-root = true
-
-[*]
-insert_final_newline = false
-
-[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
-indent_style = tab
-tab_width = 8
-# Not in the official standard, but supported by many editors
-max_line_length = 120
-
-[*.yaml]
-indent_style = space
-indent_size = 2

.gitmodules

@@ -81,5 +81,5 @@
 	url = https://github.com/PX4/PX4-gazebo-models.git
 	branch = main
 [submodule "boards/modalai/voxl2/libfc-sensor-api"]
-	path = boards/modalai/voxl2/libfc-sensor-api
+	path = src/modules/muorb/apps/libfc-sensor-api
 	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git

Tools/astyle/files_to_check_code_style.sh

@@ -30,5 +30,5 @@ exec find boards msg src platforms test \
     -path src/lib/cdrstream/cyclonedds -prune -o \
     -path src/lib/cdrstream/rosidl -prune -o \
     -path src/modules/zenoh/zenoh-pico -prune -o \
-    -path boards/modalai/voxl2/libfc-sensor-api -prune -o \
+    -path src/modules/muorb/apps/libfc-sensor-api -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

Tools/px4events/srcparser.py

@@ -126,7 +126,7 @@ class SourceParser(object):
                         descr = descr[:i] + ' ' + descr[i+1:]
                 event.description = descr
             elif tag == "group":
-                known_groups = ["calibration", "health", "arming_check", "default"]
+                known_groups = ["calibration", "health", "arming_check", "default", "ekf2"]
                 event.group = value.strip()
                 if not event.group in known_groups:
                     raise Exception("Unknown event group: '{}'\nKnown groups: {}\n" \

boards/ark/septentrio-gps/default.px4board

@@ -20,7 +20,6 @@ CONFIG_UAVCANNODE_RTK_DATA=y
 CONFIG_UAVCANNODE_SAFETY_BUTTON=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
-CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y

boards/ark/septentrio-gps/init/rc.board_defaults

@@ -11,5 +11,3 @@ param set-default SENS_IMU_CLPNOTI 0
 
 safety_button start
 tone_alarm start
-
-ekf2 start

boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig

@@ -50,7 +50,6 @@ CONFIG_STACK_COLORATION=y
 CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
 CONFIG_STDIO_DISABLE_BUFFERING=y
-CONFIG_STM32_FLASH_CONFIG_G=y
 CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0

boards/ark/septentrio-gps/nuttx-config/nsh/defconfig

@@ -123,7 +123,6 @@ CONFIG_STM32_ADC1=y
 CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
 CONFIG_STM32_DMA1=y
 CONFIG_STM32_DMA2=y
-CONFIG_STM32_FLASH_CONFIG_G=y
 CONFIG_STM32_FLASH_PREFETCH=y
 CONFIG_STM32_FLOWCONTROL_BROKEN=y
 CONFIG_STM32_I2C1=y

boards/ark/septentrio-gps/nuttx-config/scripts/canbootloader_script.ld

@@ -33,7 +33,7 @@
  *
  ****************************************************************************/
 
-/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
+/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
  * 256Kb of SRAM. SRAM is split up into three blocks:
  *
  * 1) 112Kb of SRAM beginning at address 0x2000:0000

boards/ark/septentrio-gps/nuttx-config/scripts/script.ld

@@ -33,7 +33,7 @@
  *
  ****************************************************************************/
 
-/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
+/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
  * 256Kb of SRAM. SRAM is split up into three blocks:
  *
  * 1) 112Kb of SRAM beginning at address 0x2000:0000

boards/modalai/fc-v2/default.px4board

@@ -60,7 +60,7 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y

boards/modalai/voxl2-slpi/default.px4board

@@ -4,7 +4,6 @@ CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
-CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y

boards/modalai/voxl2/cmake/init.cmake

@@ -1,34 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2024 ModalAI, Inc. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-include_directories(${PX4_BOARD_DIR}/libfc-sensor-api/inc)

boards/modalai/voxl2/cmake/link_libraries.cmake

@@ -1,7 +1,7 @@
 
 # Link against the public stub version of the proprietary fc sensor library
 target_link_libraries(px4 PRIVATE
-		${PX4_BOARD_DIR}/libfc-sensor-api/build/libfc_sensor.so
+		${PX4_SOURCE_DIR}/src//modules/muorb/apps/libfc-sensor-api/build/libfc_sensor.so
 		px4_layer
 		${module_libraries}
 )

boards/modalai/voxl2/scripts/build-deps.sh

@@ -1,9 +1,10 @@
 #!/bin/bash
 
-cd boards/modalai/voxl2/libfc-sensor-api
+cd src/modules/muorb/apps/libfc-sensor-api
 rm -fR build
 mkdir build
 cd build
 CC=/home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc cmake ..
 make
-cd ../../../../..
+cd ../../../../../..
+

boards/px4/fmu-v5x/default.px4board

@@ -81,6 +81,7 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -101,7 +102,9 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y

msg/CMakeLists.txt

@@ -58,7 +58,6 @@ set(msg_files
 	CameraCapture.msg
 	CameraStatus.msg
 	CameraTrigger.msg
-	CanInterfaceStatus.msg
 	CellularStatus.msg
 	CollisionConstraints.msg
 	CollisionReport.msg
@@ -82,7 +81,6 @@ set(msg_files
 	EstimatorAidSource3d.msg
 	EstimatorBias.msg
 	EstimatorBias3d.msg
-	EstimatorEventFlags.msg
 	EstimatorGpsStatus.msg
 	EstimatorInnovations.msg
 	EstimatorSelectorStatus.msg

msg/CanInterfaceStatus.msg

@@ -1,6 +0,0 @@
-uint64 timestamp		# time since system start (microseconds)
-uint8 interface
-
-uint64 io_errors
-uint64 frames_tx
-uint64 frames_rx

msg/EstimatorEventFlags.msg

@@ -1,37 +0,0 @@
-uint64 timestamp                        # time since system start (microseconds)
-uint64 timestamp_sample                 # the timestamp of the raw data (microseconds)
-
-# information events
-uint32 information_event_changes        # number of information event changes
-bool gps_checks_passed                  #  0 - true when gps quality checks are passing passed
-bool reset_vel_to_gps                   #  1 - true when the velocity states are reset to the gps measurement
-bool reset_vel_to_flow                  #  2 - true when the velocity states are reset using the optical flow measurement
-bool reset_vel_to_vision                #  3 - true when the velocity states are reset to the vision system measurement
-bool reset_vel_to_zero                  #  4 - true when the velocity states are reset to zero
-bool reset_pos_to_last_known            #  5 - true when the position states are reset to the last known position
-bool reset_pos_to_gps                   #  6 - true when the position states are reset to the gps measurement
-bool reset_pos_to_vision                #  7 - true when the position states are reset to the vision system measurement
-bool starting_gps_fusion                #  8 - true when the filter starts using gps measurements to correct the state estimates
-bool starting_vision_pos_fusion         #  9 - true when the filter starts using vision system position measurements to correct the state estimates
-bool starting_vision_vel_fusion         # 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
-bool starting_vision_yaw_fusion         # 11 - true when the filter starts using vision system yaw  measurements to correct the state estimates
-bool yaw_aligned_to_imu_gps             # 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
-bool reset_hgt_to_baro                  # 13 - true when the vertical position state is reset to the baro measurement
-bool reset_hgt_to_gps                   # 14 - true when the vertical position state is reset to the gps measurement
-bool reset_hgt_to_rng                   # 15 - true when the vertical position state is reset to the rng measurement
-bool reset_hgt_to_ev                    # 16 - true when the vertical position state is reset to the ev measurement
-
-# warning events
-uint32 warning_event_changes            # number of warning event changes
-bool gps_quality_poor                   #  0 - true when the gps is failing quality checks
-bool gps_fusion_timout                  #  1 - true when the gps data has not been used to correct the state estimates for a significant time period
-bool gps_data_stopped                   #  2 - true when the gps data has stopped for a significant time period
-bool gps_data_stopped_using_alternate   #  3 - true when the gps data has stopped for a significant time period but the filter is able to use other sources of data to maintain navigation
-bool height_sensor_timeout              #  4 - true when the height sensor has not been used to correct the state estimates for a significant time period
-bool stopping_navigation                #  5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
-bool invalid_accel_bias_cov_reset       #  6 - true when the filter has detected bad acceerometer bias state esitmstes and has reset the corresponding covariance matrix elements
-bool bad_yaw_using_gps_course           #  7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course
-bool stopping_mag_use                   #  8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetometer data
-bool vision_data_stopped                #  9 - true when the vision system data has stopped for a significant time period
-bool emergency_yaw_reset_mag_stopped    # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetometer data
-bool emergency_yaw_reset_gps_yaw_stopped # 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data

platforms/common/CMakeLists.txt

@@ -52,7 +52,6 @@ add_library(px4_platform STATIC
 	shutdown.cpp
 	spi.cpp
 	pab_manifest.c
-	Serial.cpp
 	${SRCS}
 )
 target_link_libraries(px4_platform prebuild_targets px4_work_queue)

platforms/common/Serial.cpp

@@ -1,138 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_platform_common/Serial.hpp>
-
-namespace device
-{
-
-Serial::Serial(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-	       FlowControl flowcontrol) :
-	_impl(port, baudrate, bytesize, parity, stopbits, flowcontrol)
-{
-	// If no baudrate was specified then set it to a reasonable default value
-	if (baudrate == 0) {
-		(void) _impl.setBaudrate(9600);
-	}
-}
-
-Serial::~Serial()
-{
-}
-
-bool Serial::open()
-{
-	return _impl.open();
-}
-
-bool Serial::isOpen() const
-{
-	return _impl.isOpen();
-}
-
-bool Serial::close()
-{
-	return _impl.close();
-}
-
-ssize_t Serial::read(uint8_t *buffer, size_t buffer_size)
-{
-	return _impl.read(buffer, buffer_size);
-}
-
-ssize_t Serial::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
-{
-	return _impl.readAtLeast(buffer, buffer_size, character_count, timeout_us);
-}
-
-ssize_t Serial::write(const void *buffer, size_t buffer_size)
-{
-	return _impl.write(buffer, buffer_size);
-}
-
-uint32_t Serial::getBaudrate() const
-{
-	return _impl.getBaudrate();
-}
-
-bool Serial::setBaudrate(uint32_t baudrate)
-{
-	return _impl.setBaudrate(baudrate);
-}
-
-ByteSize Serial::getBytesize() const
-{
-	return _impl.getBytesize();
-}
-
-bool Serial::setBytesize(ByteSize bytesize)
-{
-	return _impl.setBytesize(bytesize);
-}
-
-Parity Serial::getParity() const
-{
-	return _impl.getParity();
-}
-
-bool Serial::setParity(Parity parity)
-{
-	return _impl.setParity(parity);
-}
-
-StopBits Serial::getStopbits() const
-{
-	return _impl.getStopbits();
-}
-
-bool Serial::setStopbits(StopBits stopbits)
-{
-	return _impl.setStopbits(stopbits);
-}
-
-FlowControl Serial::getFlowcontrol() const
-{
-	return _impl.getFlowcontrol();
-}
-
-bool Serial::setFlowcontrol(FlowControl flowcontrol)
-{
-	return _impl.setFlowcontrol(flowcontrol);
-}
-
-const char *Serial::getPort() const
-{
-	return _impl.getPort();
-}
-
-} // namespace device

platforms/common/include/px4_platform_common/Serial.hpp

@@ -1,97 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <SerialImpl.hpp>
-
-#include <px4_platform_common/SerialCommon.hpp>
-
-using device::SerialConfig::ByteSize;
-using device::SerialConfig::Parity;
-using device::SerialConfig::StopBits;
-using device::SerialConfig::FlowControl;
-
-namespace device __EXPORT
-{
-
-class Serial
-{
-public:
-	Serial(const char *port, uint32_t baudrate = 57600,
-	       ByteSize bytesize = ByteSize::EightBits, Parity parity = Parity::None,
-	       StopBits stopbits = StopBits::One, FlowControl flowcontrol = FlowControl::Disabled);
-	virtual ~Serial();
-
-	// Open sets up the port and gets it configured based on desired configuration
-	bool open();
-	bool isOpen() const;
-
-	bool close();
-
-	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
-
-	ssize_t write(const void *buffer, size_t buffer_size);
-
-	// If port is already open then the following configuration functions
-	// will reconfigure the port. If the port is not yet open then they will
-	// simply store the configuration in preparation for the port to be opened.
-
-	uint32_t getBaudrate() const;
-	bool setBaudrate(uint32_t baudrate);
-
-	ByteSize getBytesize() const;
-	bool setBytesize(ByteSize bytesize);
-
-	Parity getParity() const;
-	bool setParity(Parity parity);
-
-	StopBits getStopbits() const;
-	bool setStopbits(StopBits stopbits);
-
-	FlowControl getFlowcontrol() const;
-	bool setFlowcontrol(FlowControl flowcontrol);
-
-	const char *getPort() const;
-
-private:
-	// Disable copy constructors
-	Serial(const Serial &);
-	Serial &operator=(const Serial &);
-
-	// platform implementation
-	SerialImpl _impl;
-};
-
-} // namespace device

platforms/common/include/px4_platform_common/SerialCommon.hpp

@@ -1,70 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-namespace device
-{
-namespace SerialConfig
-{
-
-
-// ByteSize: number of data bits
-enum class ByteSize {
-	FiveBits  = 5,
-	SixBits   = 6,
-	SevenBits = 7,
-	EightBits = 8,
-};
-
-// Parity: enable parity checking
-enum class Parity {
-	None = 0,
-	Odd  = 1,
-	Even = 2,
-};
-
-// StopBits: number of stop bits
-enum class StopBits {
-	One = 1,
-	Two = 2
-};
-
-// FlowControl: enable flow control
-enum class FlowControl {
-	Disabled = 0,
-	Enabled  = 1,
-};
-
-} // namespace SerialConfig
-} // namespace device

platforms/common/include/px4_platform_common/time.h

@@ -13,21 +13,11 @@ __END_DECLS
 #define px4_clock_gettime system_clock_gettime
 #endif
 
-#if defined(ENABLE_LOCKSTEP_SCHEDULER) || defined(__PX4_QURT)
-
-__BEGIN_DECLS
-__EXPORT int px4_clock_settime(clockid_t clk_id, const struct timespec *tp);
-__END_DECLS
-
-#else
-
-#define px4_clock_settime system_clock_settime
-
-#endif
-
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
 
 __BEGIN_DECLS
+__EXPORT int px4_clock_settime(clockid_t clk_id, const struct timespec *tp);
+
 __EXPORT int px4_usleep(useconds_t usec);
 __EXPORT unsigned int px4_sleep(unsigned int seconds);
 __EXPORT int px4_pthread_cond_timedwait(pthread_cond_t *cond,
@@ -37,6 +27,7 @@ __END_DECLS
 
 #else
 
+#define px4_clock_settime system_clock_settime
 #define px4_usleep system_usleep
 #define px4_sleep system_sleep
 #define px4_pthread_cond_timedwait system_pthread_cond_timedwait

platforms/common/uORB/SubscriptionBlocking.hpp

@@ -56,6 +56,31 @@ public:
 	SubscriptionBlocking(const orb_metadata *meta, uint32_t interval_us = 0, uint8_t instance = 0) :
 		SubscriptionCallback(meta, interval_us, instance)
 	{
+		// pthread_mutexattr_init
+		pthread_mutexattr_t attr;
+		int ret_attr_init = pthread_mutexattr_init(&attr);
+
+		if (ret_attr_init != 0) {
+			PX4_ERR("pthread_mutexattr_init failed, status=%d", ret_attr_init);
+		}
+
+#if defined(PTHREAD_PRIO_NONE)
+		// pthread_mutexattr_settype
+		//  PTHREAD_PRIO_NONE not available on cygwin
+		int ret_mutexattr_settype = pthread_mutexattr_settype(&attr, PTHREAD_PRIO_NONE);
+
+		if (ret_mutexattr_settype != 0) {
+			PX4_ERR("pthread_mutexattr_settype failed, status=%d", ret_mutexattr_settype);
+		}
+
+#endif // PTHREAD_PRIO_NONE
+
+		// pthread_mutex_init
+		int ret_mutex_init = pthread_mutex_init(&_mutex, &attr);
+
+		if (ret_mutex_init != 0) {
+			PX4_ERR("pthread_mutex_init failed, status=%d", ret_mutex_init);
+		}
 	}
 
 	virtual ~SubscriptionBlocking()

platforms/common/uORB/uORBDeviceNode.cpp

@@ -412,10 +412,7 @@ int16_t uORB::DeviceNode::process_add_subscription()
 	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
 
 	if (_data != nullptr && ch != nullptr) { // _data will not be null if there is a publisher.
-		// Only send the most recent data to initialize the remote end.
-		if (_data_valid) {
-			ch->send_message(_meta->o_name, _meta->o_size, _data + (_meta->o_size * ((_generation.load() - 1) % _meta->o_queue)));
-		}
+		ch->send_message(_meta->o_name, _meta->o_size, _data);
 	}
 
 	return PX4_OK;

platforms/nuttx/src/px4/common/SerialImpl.cpp

@@ -1,394 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <SerialImpl.hpp>
-#include <string.h> // strncpy
-#include <termios.h>
-#include <px4_log.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <poll.h>
-#include <drivers/drv_hrt.h>
-
-#define MODULE_NAME "SerialImpl"
-
-namespace device
-{
-
-SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		       FlowControl flowcontrol) :
-	_baudrate(baudrate),
-	_bytesize(bytesize),
-	_parity(parity),
-	_stopbits(stopbits),
-	_flowcontrol(flowcontrol)
-{
-	if (port) {
-		strncpy(_port, port, sizeof(_port) - 1);
-		_port[sizeof(_port) - 1] = '\0';
-
-	} else {
-		_port[0] = 0;
-	}
-}
-
-SerialImpl::~SerialImpl()
-{
-	if (isOpen()) {
-		close();
-	}
-}
-
-bool SerialImpl::validateBaudrate(uint32_t baudrate)
-{
-	return ((baudrate == 9600) ||
-		(baudrate == 19200) ||
-		(baudrate == 38400) ||
-		(baudrate == 57600) ||
-		(baudrate == 115200) ||
-		(baudrate == 230400) ||
-		(baudrate == 460800) ||
-		(baudrate == 921600));
-}
-
-bool SerialImpl::configure()
-{
-	/* process baud rate */
-	int speed;
-
-	if (! validateBaudrate(_baudrate)) {
-		PX4_ERR("ERR: unknown baudrate: %lu", _baudrate);
-		return false;
-	}
-
-	switch (_baudrate) {
-	case 9600:   speed = B9600;   break;
-
-	case 19200:  speed = B19200;  break;
-
-	case 38400:  speed = B38400;  break;
-
-	case 57600:  speed = B57600;  break;
-
-	case 115200: speed = B115200; break;
-
-	case 230400: speed = B230400; break;
-
-#ifndef B460800
-#define B460800 460800
-#endif
-
-	case 460800: speed = B460800; break;
-
-#ifndef B921600
-#define B921600 921600
-#endif
-
-	case 921600: speed = B921600; break;
-
-	default:
-		PX4_ERR("ERR: unknown baudrate: %lu", _baudrate);
-		return false;
-	}
-
-	struct termios uart_config;
-
-	int termios_state;
-
-	/* fill the struct for the new configuration */
-	if ((termios_state = tcgetattr(_serial_fd, &uart_config)) < 0) {
-		PX4_ERR("ERR: %d (tcgetattr)", termios_state);
-		return false;
-	}
-
-	/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
-
-	//
-	// Input flags - Turn off input processing
-	//
-	// convert break to null byte, no CR to NL translation,
-	// no NL to CR translation, don't mark parity errors or breaks
-	// no input parity check, don't strip high bit off,
-	// no XON/XOFF software flow control
-	//
-	uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
-				 INLCR | PARMRK | INPCK | ISTRIP | IXON);
-
-	//
-	// Output flags - Turn off output processing
-	//
-	// no CR to NL translation, no NL to CR-NL translation,
-	// no NL to CR translation, no column 0 CR suppression,
-	// no Ctrl-D suppression, no fill characters, no case mapping,
-	// no local output processing
-	//
-	// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
-	//                     ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
-	uart_config.c_oflag = 0;
-
-	//
-	// No line processing
-	//
-	// echo off, echo newline off, canonical mode off,
-	// extended input processing off, signal chars off
-	//
-	uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
-
-	/* no parity, one stop bit, disable flow control */
-	uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
-
-	/* set baud rate */
-	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
-		PX4_ERR("ERR: %d (cfsetispeed)", termios_state);
-		return false;
-	}
-
-	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
-		PX4_ERR("ERR: %d (cfsetospeed)", termios_state);
-		return false;
-	}
-
-	if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
-		PX4_ERR("ERR: %d (tcsetattr)", termios_state);
-		return false;
-	}
-
-	return true;
-}
-
-bool SerialImpl::open()
-{
-	if (isOpen()) {
-		return true;
-	}
-
-	// Open the serial port
-	int serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
-
-	if (serial_fd < 0) {
-		PX4_ERR("failed to open %s err: %d", _port, errno);
-		return false;
-	}
-
-	_serial_fd = serial_fd;
-
-	// Configure the serial port
-	if (! configure()) {
-		PX4_ERR("failed to configure %s err: %d", _port, errno);
-		return false;
-	}
-
-	_open = true;
-
-	return _open;
-}
-
-bool SerialImpl::isOpen() const
-{
-	return _open;
-}
-
-bool SerialImpl::close()
-{
-
-	if (_serial_fd >= 0) {
-		::close(_serial_fd);
-	}
-
-	_serial_fd = -1;
-	_open = false;
-
-	return true;
-}
-
-ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot read from serial device until it has been opened");
-		return -1;
-	}
-
-	int ret = ::read(_serial_fd, buffer, buffer_size);
-
-	if (ret < 0) {
-		PX4_DEBUG("%s read error %d", _port, ret);
-	}
-
-	return ret;
-}
-
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
-{
-	if (!_open) {
-		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
-		return -1;
-	}
-
-	if (buffer_size < character_count) {
-		PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__);
-		return -1;
-	}
-
-	const hrt_abstime start_time_us = hrt_absolute_time();
-	int total_bytes_read = 0;
-
-	while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) {
-		// Poll for incoming UART data.
-		pollfd fds[1];
-		fds[0].fd = _serial_fd;
-		fds[0].events = POLLIN;
-
-		hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us);
-
-		if (remaining_time <= 0) { break; }
-
-		int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time);
-
-		if (ret > 0) {
-			if (fds[0].revents & POLLIN) {
-				const unsigned sleeptime = character_count * 1000000 / (_baudrate / 10);
-
-				int err = 0;
-				int bytes_available = 0;
-				err = ::ioctl(_serial_fd, FIONREAD, (unsigned long)&bytes_available);
-
-				if (err != 0 || bytes_available < (int)character_count) {
-					px4_usleep(sleeptime);
-				}
-
-				ret = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
-
-				if (ret > 0) {
-					total_bytes_read += ret;
-				}
-
-			} else {
-				PX4_ERR("Got a poll error");
-				return -1;
-			}
-		}
-	}
-
-	return total_bytes_read;
-}
-
-ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot write to serial device until it has been opened");
-		return -1;
-	}
-
-	int written = ::write(_serial_fd, buffer, buffer_size);
-	::fsync(_serial_fd);
-
-	if (written < 0) {
-		PX4_ERR("%s write error %d", _port, written);
-	}
-
-	return written;
-}
-
-const char *SerialImpl::getPort() const
-{
-	return _port;
-}
-
-uint32_t SerialImpl::getBaudrate() const
-{
-	return _baudrate;
-}
-
-bool SerialImpl::setBaudrate(uint32_t baudrate)
-{
-	if (! validateBaudrate(baudrate)) {
-		PX4_ERR("ERR: invalid baudrate: %lu", baudrate);
-		return false;
-	}
-
-	// check if already configured
-	if ((baudrate == _baudrate) && _open) {
-		return true;
-	}
-
-	_baudrate = baudrate;
-
-	// process baud rate change now if port is already open
-	if (_open) {
-		return configure();
-	}
-
-	return true;
-}
-
-ByteSize SerialImpl::getBytesize() const
-{
-	return _bytesize;
-}
-
-bool SerialImpl::setBytesize(ByteSize bytesize)
-{
-	return bytesize == ByteSize::EightBits;
-}
-
-Parity SerialImpl::getParity() const
-{
-	return _parity;
-}
-
-bool SerialImpl::setParity(Parity parity)
-{
-	return parity == Parity::None;
-}
-
-StopBits SerialImpl::getStopbits() const
-{
-	return _stopbits;
-}
-
-bool SerialImpl::setStopbits(StopBits stopbits)
-{
-	return stopbits == StopBits::One;
-}
-
-FlowControl SerialImpl::getFlowcontrol() const
-{
-	return _flowcontrol;
-}
-
-bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
-{
-	return flowcontrol == FlowControl::Disabled;
-}
-
-} // namespace device

platforms/nuttx/src/px4/common/include/SerialImpl.hpp

@@ -1,104 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <stdint.h>
-#include <unistd.h>
-
-#include <px4_platform_common/SerialCommon.hpp>
-
-using device::SerialConfig::ByteSize;
-using device::SerialConfig::Parity;
-using device::SerialConfig::StopBits;
-using device::SerialConfig::FlowControl;
-
-namespace device
-{
-
-class SerialImpl
-{
-public:
-
-	SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		   FlowControl flowcontrol);
-	virtual ~SerialImpl();
-
-	bool open();
-	bool isOpen() const;
-
-	bool close();
-
-	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
-
-	ssize_t write(const void *buffer, size_t buffer_size);
-
-	const char *getPort() const;
-
-	uint32_t getBaudrate() const;
-	bool setBaudrate(uint32_t baudrate);
-
-	ByteSize getBytesize() const;
-	bool setBytesize(ByteSize bytesize);
-
-	Parity getParity() const;
-	bool setParity(Parity parity);
-
-	StopBits getStopbits() const;
-	bool setStopbits(StopBits stopbits);
-
-	FlowControl getFlowcontrol() const;
-	bool setFlowcontrol(FlowControl flowcontrol);
-
-private:
-
-	int _serial_fd{-1};
-
-	bool _open{false};
-
-	char _port[32] {};
-
-	uint32_t _baudrate{0};
-
-	ByteSize _bytesize{ByteSize::EightBits};
-	Parity _parity{Parity::None};
-	StopBits _stopbits{StopBits::One};
-	FlowControl _flowcontrol{FlowControl::Disabled};
-
-	bool validateBaudrate(uint32_t baudrate);
-	bool configure();
-
-};
-
-} // namespace device

platforms/nuttx/src/px4/common/px4_layer.cmake

@@ -3,8 +3,6 @@
 add_library(px4_layer
 		${KERNEL_SRCS}
 		cdc_acm_check.cpp
-		${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
-		SerialImpl.cpp
 	)
 
 target_link_libraries(px4_layer

platforms/nuttx/src/px4/common/px4_protected_layers.cmake

@@ -15,8 +15,6 @@ add_library(px4_layer
 	usr_board_ctrl.c
 	usr_hrt.cpp
 	usr_mcu_version.cpp
-	${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
-	SerialImpl.cpp
 )
 
 target_link_libraries(px4_layer

platforms/posix/include/SerialImpl.hpp

@@ -1,103 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <stdint.h>
-#include <unistd.h>
-
-#include <px4_platform_common/SerialCommon.hpp>
-
-using device::SerialConfig::ByteSize;
-using device::SerialConfig::Parity;
-using device::SerialConfig::StopBits;
-using device::SerialConfig::FlowControl;
-
-namespace device
-{
-
-class SerialImpl
-{
-public:
-
-	SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		   FlowControl flowcontrol);
-	virtual ~SerialImpl();
-
-	bool open();
-	bool isOpen() const;
-
-	bool close();
-
-	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
-
-	ssize_t write(const void *buffer, size_t buffer_size);
-
-	const char *getPort() const;
-
-	uint32_t getBaudrate() const;
-	bool setBaudrate(uint32_t baudrate);
-
-	ByteSize getBytesize() const;
-	bool setBytesize(ByteSize bytesize);
-
-	Parity getParity() const;
-	bool setParity(Parity parity);
-
-	StopBits getStopbits() const;
-	bool setStopbits(StopBits stopbits);
-
-	FlowControl getFlowcontrol() const;
-	bool setFlowcontrol(FlowControl flowcontrol);
-
-private:
-
-	int _serial_fd{-1};
-
-	bool _open{false};
-
-	char _port[32] {};
-
-	uint32_t _baudrate{0};
-
-	ByteSize _bytesize{ByteSize::EightBits};
-	Parity _parity{Parity::None};
-	StopBits _stopbits{StopBits::One};
-	FlowControl _flowcontrol{FlowControl::Disabled};
-
-	bool validateBaudrate(uint32_t baudrate);
-	bool configure();
-};
-
-} // namespace device

platforms/posix/src/px4/common/CMakeLists.txt

@@ -46,8 +46,6 @@ add_library(px4_layer
 	drv_hrt.cpp
 	cpuload.cpp
 	print_load.cpp
-	${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
-	SerialImpl.cpp
 )
 target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4")
 target_compile_options(px4_layer PRIVATE -Wno-cast-align) # TODO: fix and enable

platforms/posix/src/px4/common/SerialImpl.cpp

@@ -1,387 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <SerialImpl.hpp>
-#include <string.h> // strncpy
-#include <termios.h>
-#include <px4_log.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <poll.h>
-#include <drivers/drv_hrt.h>
-
-namespace device
-{
-
-SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		       FlowControl flowcontrol) :
-	_baudrate(baudrate),
-	_bytesize(bytesize),
-	_parity(parity),
-	_stopbits(stopbits),
-	_flowcontrol(flowcontrol)
-{
-	if (port) {
-		strncpy(_port, port, sizeof(_port) - 1);
-		_port[sizeof(_port) - 1] = '\0';
-
-	} else {
-		_port[0] = 0;
-	}
-}
-
-SerialImpl::~SerialImpl()
-{
-	if (isOpen()) {
-		close();
-	}
-}
-
-bool SerialImpl::validateBaudrate(uint32_t baudrate)
-{
-	return ((baudrate == 9600) ||
-		(baudrate == 19200) ||
-		(baudrate == 38400) ||
-		(baudrate == 57600) ||
-		(baudrate == 115200) ||
-		(baudrate == 230400) ||
-		(baudrate == 460800) ||
-		(baudrate == 921600));
-}
-
-bool SerialImpl::configure()
-{
-	/* process baud rate */
-	int speed;
-
-	if (! validateBaudrate(_baudrate)) {
-		PX4_ERR("ERR: unknown baudrate: %u", _baudrate);
-		return false;
-	}
-
-	switch (_baudrate) {
-	case 9600:   speed = B9600;   break;
-
-	case 19200:  speed = B19200;  break;
-
-	case 38400:  speed = B38400;  break;
-
-	case 57600:  speed = B57600;  break;
-
-	case 115200: speed = B115200; break;
-
-	case 230400: speed = B230400; break;
-
-#ifndef B460800
-#define B460800 460800
-#endif
-
-	case 460800: speed = B460800; break;
-
-#ifndef B921600
-#define B921600 921600
-#endif
-
-	case 921600: speed = B921600; break;
-
-	default:
-		PX4_ERR("ERR: unknown baudrate: %d", _baudrate);
-		return false;
-	}
-
-	struct termios uart_config;
-
-	int termios_state;
-
-	/* fill the struct for the new configuration */
-	if ((termios_state = tcgetattr(_serial_fd, &uart_config)) < 0) {
-		PX4_ERR("ERR: %d (tcgetattr)", termios_state);
-		return false;
-	}
-
-	/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
-
-	//
-	// Input flags - Turn off input processing
-	//
-	// convert break to null byte, no CR to NL translation,
-	// no NL to CR translation, don't mark parity errors or breaks
-	// no input parity check, don't strip high bit off,
-	// no XON/XOFF software flow control
-	//
-	uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
-				 INLCR | PARMRK | INPCK | ISTRIP | IXON);
-
-	//
-	// Output flags - Turn off output processing
-	//
-	// no CR to NL translation, no NL to CR-NL translation,
-	// no NL to CR translation, no column 0 CR suppression,
-	// no Ctrl-D suppression, no fill characters, no case mapping,
-	// no local output processing
-	//
-	// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
-	//                     ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
-	uart_config.c_oflag = 0;
-
-	//
-	// No line processing
-	//
-	// echo off, echo newline off, canonical mode off,
-	// extended input processing off, signal chars off
-	//
-	uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
-
-	/* no parity, one stop bit, disable flow control */
-	uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
-
-	/* set baud rate */
-	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
-		PX4_ERR("ERR: %d (cfsetispeed)", termios_state);
-		return false;
-	}
-
-	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
-		PX4_ERR("ERR: %d (cfsetospeed)", termios_state);
-		return false;
-	}
-
-	if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
-		PX4_ERR("ERR: %d (tcsetattr)", termios_state);
-		return false;
-	}
-
-	return true;
-}
-
-bool SerialImpl::open()
-{
-	if (isOpen()) {
-		return true;
-	}
-
-	// Open the serial port
-	int serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
-
-	if (serial_fd < 0) {
-		PX4_ERR("failed to open %s err: %d", _port, errno);
-		return false;
-	}
-
-	_serial_fd = serial_fd;
-
-	// Configure the serial port
-	if (! configure()) {
-		PX4_ERR("failed to configure %s err: %d", _port, errno);
-		return false;
-	}
-
-	_open = true;
-
-	return _open;
-}
-
-bool SerialImpl::isOpen() const
-{
-	return _open;
-}
-
-bool SerialImpl::close()
-{
-
-	if (_serial_fd >= 0) {
-		::close(_serial_fd);
-	}
-
-	_serial_fd = -1;
-	_open = false;
-
-	return true;
-}
-
-ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot read from serial device until it has been opened");
-		return -1;
-	}
-
-	int ret = ::read(_serial_fd, buffer, buffer_size);
-
-	if (ret < 0) {
-		PX4_DEBUG("%s read error %d", _port, ret);
-
-	}
-
-	return ret;
-}
-
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
-{
-	if (!_open) {
-		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
-		return -1;
-	}
-
-	if (buffer_size < character_count) {
-		PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__);
-		return -1;
-	}
-
-	const hrt_abstime start_time_us = hrt_absolute_time();
-	int total_bytes_read = 0;
-
-	while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) {
-		// Poll for incoming UART data.
-		pollfd fds[1];
-		fds[0].fd = _serial_fd;
-		fds[0].events = POLLIN;
-
-		hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us);
-
-		if (remaining_time <= 0) { break; }
-
-		int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time);
-
-		if (ret > 0) {
-			if (fds[0].revents & POLLIN) {
-				const unsigned sleeptime = character_count * 1000000 / (_baudrate / 10);
-				px4_usleep(sleeptime);
-
-				ret = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
-
-				if (ret > 0) {
-					total_bytes_read += ret;
-				}
-
-			} else {
-				PX4_ERR("Got a poll error");
-				return -1;
-			}
-		}
-	}
-
-	return total_bytes_read;
-}
-
-ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot write to serial device until it has been opened");
-		return -1;
-	}
-
-	int written = ::write(_serial_fd, buffer, buffer_size);
-	::fsync(_serial_fd);
-
-	if (written < 0) {
-		PX4_ERR("%s write error %d", _port, written);
-
-	}
-
-	return written;
-}
-
-const char *SerialImpl::getPort() const
-{
-	return _port;
-}
-
-uint32_t SerialImpl::getBaudrate() const
-{
-	return _baudrate;
-}
-
-bool SerialImpl::setBaudrate(uint32_t baudrate)
-{
-	if (! validateBaudrate(baudrate)) {
-		PX4_ERR("ERR: invalid baudrate: %u", baudrate);
-		return false;
-	}
-
-	// check if already configured
-	if ((baudrate == _baudrate) && _open) {
-		return true;
-	}
-
-	_baudrate = baudrate;
-
-	// process baud rate change now if port is already open
-	if (_open) {
-		return configure();
-	}
-
-	return true;
-}
-
-ByteSize SerialImpl::getBytesize() const
-{
-	return _bytesize;
-}
-
-bool SerialImpl::setBytesize(ByteSize bytesize)
-{
-	return bytesize == ByteSize::EightBits;
-}
-
-Parity SerialImpl::getParity() const
-{
-	return _parity;
-}
-
-bool SerialImpl::setParity(Parity parity)
-{
-	return parity == Parity::None;
-}
-
-StopBits SerialImpl::getStopbits() const
-{
-	return _stopbits;
-}
-
-bool SerialImpl::setStopbits(StopBits stopbits)
-{
-	return stopbits == StopBits::One;
-}
-
-FlowControl SerialImpl::getFlowcontrol() const
-{
-	return _flowcontrol;
-}
-
-bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
-{
-	return flowcontrol == FlowControl::Disabled;
-}
-
-} // namespace device

platforms/posix/src/px4/common/drv_hrt.cpp

@@ -51,11 +51,6 @@
 #include <errno.h>
 #include "hrt_work.h"
 
-// Voxl2 board specific API definitions to get time offset
-#if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
-#include "fc_sensor.h"
-#endif
-
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
 #include <lockstep_scheduler/lockstep_scheduler.h>
 static LockstepScheduler lockstep_scheduler {true};
@@ -112,29 +107,6 @@ hrt_abstime hrt_absolute_time()
 #else // defined(ENABLE_LOCKSTEP_SCHEDULER)
 	struct timespec ts;
 	px4_clock_gettime(CLOCK_MONOTONIC, &ts);
-
-# if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
-	hrt_abstime temp_abstime = ts_to_abstime(&ts);
-	int apps_time_offset = fc_sensor_get_time_offset();
-
-	if (apps_time_offset < 0) {
-		hrt_abstime temp_offset = -apps_time_offset;
-
-		if (temp_offset >= temp_abstime) {
-			temp_abstime = 0;
-
-		} else {
-			temp_abstime -= temp_offset;
-		}
-
-	} else {
-		temp_abstime += (hrt_abstime) apps_time_offset;
-	}
-
-	ts.tv_sec = temp_abstime / 1000000;
-	ts.tv_nsec = (temp_abstime % 1000000) * 1000;
-# endif // defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
-
 	return ts_to_abstime(&ts);
 #endif // defined(ENABLE_LOCKSTEP_SCHEDULER)
 }
@@ -477,7 +449,6 @@ int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
 
 #endif // defined(ENABLE_LOCKSTEP_SCHEDULER)
 	return system_clock_gettime(clk_id, tp);
-
 }
 
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)

platforms/qurt/CMakeLists.txt

@@ -50,4 +50,5 @@ add_library(px4 SHARED
 target_link_libraries(px4
 	modules__muorb__slpi
 	${module_libraries}
+	px4_layer
 	)

platforms/qurt/include/SerialImpl.hpp

@@ -1,108 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <unistd.h>
-
-#include <px4_platform_common/SerialCommon.hpp>
-
-using device::SerialConfig::ByteSize;
-using device::SerialConfig::Parity;
-using device::SerialConfig::StopBits;
-using device::SerialConfig::FlowControl;
-
-namespace device
-{
-
-class SerialImpl
-{
-public:
-
-	SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		   FlowControl flowcontrol);
-	virtual ~SerialImpl();
-
-	bool open();
-	bool isOpen() const;
-
-	bool close();
-
-	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
-
-	ssize_t write(const void *buffer, size_t buffer_size);
-
-	const char *getPort() const;
-	bool setPort(const char *port);
-
-	uint32_t getBaudrate() const;
-	bool setBaudrate(uint32_t baudrate);
-
-	ByteSize getBytesize() const;
-	bool setBytesize(ByteSize bytesize);
-
-	Parity getParity() const;
-	bool setParity(Parity parity);
-
-	StopBits getStopbits() const;
-	bool setStopbits(StopBits stopbits);
-
-	FlowControl getFlowcontrol() const;
-	bool setFlowcontrol(FlowControl flowcontrol);
-
-private:
-
-	int _serial_fd{-1};
-
-	bool _open{false};
-
-	char _port[32] {};
-
-	uint32_t _baudrate{0};
-
-	ByteSize _bytesize{ByteSize::EightBits};
-	Parity _parity{Parity::None};
-	StopBits _stopbits{StopBits::One};
-	FlowControl _flowcontrol{FlowControl::Disabled};
-
-	bool validateBaudrate(uint32_t baudrate);
-
-	// Mutex used to lock the read functions
-	//pthread_mutex_t read_mutex;
-
-	// Mutex used to lock the write functions
-	//pthread_mutex_t write_mutex;
-};
-
-} // namespace device

platforms/qurt/src/px4/CMakeLists.txt

@@ -38,7 +38,6 @@ set(QURT_LAYER_SRCS
 	px4_qurt_impl.cpp
 	main.cpp
 	qurt_log.cpp
-	SerialImpl.cpp
 	)
 
 add_library(px4_layer

platforms/qurt/src/px4/SerialImpl.cpp

@@ -1,326 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <SerialImpl.hpp>
-#include <string.h> // strncpy
-#include <px4_log.h>
-#include <drivers/device/qurt/uart.h>
-#include <drivers/drv_hrt.h>
-
-namespace device
-{
-
-SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		       FlowControl flowcontrol) :
-	_baudrate(baudrate),
-	_bytesize(bytesize),
-	_parity(parity),
-	_stopbits(stopbits),
-	_flowcontrol(flowcontrol)
-{
-	if (port) {
-		strncpy(_port, port, sizeof(_port) - 1);
-		_port[sizeof(_port) - 1] = '\0';
-
-	} else {
-		_port[0] = 0;
-	}
-}
-
-SerialImpl::~SerialImpl()
-{
-	if (isOpen()) {
-		close();
-	}
-}
-
-bool SerialImpl::validateBaudrate(uint32_t baudrate)
-{
-	if ((baudrate != 9600)   &&
-	    (baudrate != 38400)  &&
-	    (baudrate != 57600)  &&
-	    (baudrate != 115200) &&
-	    (baudrate != 230400) &&
-	    (baudrate != 250000) &&
-	    (baudrate != 420000) &&
-	    (baudrate != 460800) &&
-	    (baudrate != 921600) &&
-	    (baudrate != 1000000) &&
-	    (baudrate != 1843200) &&
-	    (baudrate != 2000000)) {
-		return false;
-	}
-
-	return true;
-}
-
-bool SerialImpl::open()
-{
-	// There's no harm in calling open multiple times on the same port.
-	// In fact, that's the only way to change the baudrate
-
-	_open = false;
-	_serial_fd = -1;
-
-	if (! validateBaudrate(_baudrate)) {
-		PX4_ERR("Invalid baudrate: %u", _baudrate);
-		return false;
-	}
-
-	if (_bytesize != ByteSize::EightBits) {
-		PX4_ERR("Qurt platform only supports ByteSize::EightBits");
-		return false;
-	}
-
-	if (_parity != Parity::None) {
-		PX4_ERR("Qurt platform only supports Parity::None");
-		return false;
-	}
-
-	if (_stopbits != StopBits::One) {
-		PX4_ERR("Qurt platform only supports StopBits::One");
-		return false;
-	}
-
-	if (_flowcontrol != FlowControl::Disabled) {
-		PX4_ERR("Qurt platform only supports FlowControl::Disabled");
-		return false;
-	}
-
-	// qurt_uart_open will check validity of port and baudrate
-	int serial_fd = qurt_uart_open(_port, _baudrate);
-
-	if (serial_fd < 0) {
-		PX4_ERR("failed to open %s, fd returned: %d", _port, serial_fd);
-		return false;
-
-	} else {
-		PX4_INFO("Successfully opened UART %s with baudrate %u", _port, _baudrate);
-	}
-
-	_serial_fd = serial_fd;
-	_open = true;
-
-	return _open;
-}
-
-bool SerialImpl::isOpen() const
-{
-	return _open;
-}
-
-bool SerialImpl::close()
-{
-	// No close defined for qurt uart yet
-	// if (_serial_fd >= 0) {
-	// 	qurt_uart_close(_serial_fd);
-	// }
-
-	_serial_fd = -1;
-	_open = false;
-
-	return true;
-}
-
-ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot read from serial device until it has been opened");
-		return -1;
-	}
-
-	int ret_read = qurt_uart_read(_serial_fd, (char *) buffer, buffer_size, 500);
-
-	if (ret_read < 0) {
-		PX4_DEBUG("%s read error %d", _port, ret_read);
-
-	}
-
-	return ret_read;
-}
-
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
-{
-	if (!_open) {
-		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
-		return -1;
-	}
-
-	if (buffer_size < character_count) {
-		PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__);
-		return -1;
-	}
-
-	const hrt_abstime start_time_us = hrt_absolute_time();
-	int total_bytes_read = 0;
-
-	while (total_bytes_read < (int) character_count) {
-
-		if (timeout_us > 0) {
-			const uint64_t elapsed_us = hrt_elapsed_time(&start_time_us);
-
-			if (elapsed_us >= timeout_us) {
-				// If there was a partial read but not enough to satisfy the minimum then they will be lost
-				// but this really should never happen when everything is working normally.
-				// PX4_WARN("%s timeout %d bytes read (%llu us elapsed)", __FUNCTION__, total_bytes_read, elapsed_us);
-				// Or, instead of returning an error, should we return the number of bytes read (assuming it is greater than zero)?
-				return total_bytes_read;
-			}
-		}
-
-		int current_bytes_read = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
-
-		if (current_bytes_read < 0) {
-			// Again, if there was a partial read but not enough to satisfy the minimum then they will be lost
-			// but this really should never happen when everything is working normally.
-			PX4_ERR("%s failed to read uart", __FUNCTION__);
-			// Or, instead of returning an error, should we return the number of bytes read (assuming it is greater than zero)?
-			return -1;
-		}
-
-		// Current bytes read could be zero
-		total_bytes_read += current_bytes_read;
-
-		// If we have at least reached our desired minimum number of characters
-		// then we can return now
-		if (total_bytes_read >= (int) character_count) {
-			return total_bytes_read;
-		}
-
-		// Wait a set amount of time before trying again or the remaining time
-		// until the timeout if we are getting close
-		const uint64_t elapsed_us = hrt_elapsed_time(&start_time_us);
-		int64_t time_until_timeout = timeout_us - elapsed_us;
-		uint64_t time_to_sleep = 5000;
-
-		if ((time_until_timeout >= 0) &&
-		    (time_until_timeout < (int64_t) time_to_sleep)) {
-			time_to_sleep = time_until_timeout;
-		}
-
-		px4_usleep(time_to_sleep);
-	}
-
-	return -1;
-}
-
-ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot write to serial device until it has been opened");
-		return -1;
-	}
-
-	int ret_write = qurt_uart_write(_serial_fd, (const char *) buffer, buffer_size);
-
-	if (ret_write < 0) {
-		PX4_ERR("%s write error %d", _port, ret_write);
-
-	}
-
-	return ret_write;
-}
-
-const char *SerialImpl::getPort() const
-{
-	return _port;
-}
-
-uint32_t SerialImpl::getBaudrate() const
-{
-	return _baudrate;
-}
-
-bool SerialImpl::setBaudrate(uint32_t baudrate)
-{
-	if (! validateBaudrate(baudrate)) {
-		PX4_ERR("Invalid baudrate: %u", baudrate);
-		return false;
-	}
-
-	// check if already configured
-	if (baudrate == _baudrate) {
-		return true;
-	}
-
-	_baudrate = baudrate;
-
-	// process baud rate change now if port is already open
-	if (_open) {
-		return open();
-	}
-
-	return true;
-}
-
-ByteSize SerialImpl::getBytesize() const
-{
-	return _bytesize;
-}
-
-bool SerialImpl::setBytesize(ByteSize bytesize)
-{
-	return bytesize == ByteSize::EightBits;
-}
-
-Parity SerialImpl::getParity() const
-{
-	return _parity;
-}
-
-bool SerialImpl::setParity(Parity parity)
-{
-	return parity == Parity::None;
-}
-
-StopBits SerialImpl::getStopbits() const
-{
-	return _stopbits;
-}
-
-bool SerialImpl::setStopbits(StopBits stopbits)
-{
-	return stopbits == StopBits::One;
-}
-
-FlowControl SerialImpl::getFlowcontrol() const
-{
-	return _flowcontrol;
-}
-
-bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
-{
-	return flowcontrol == FlowControl::Disabled;
-}
-
-} // namespace device

platforms/qurt/src/px4/drv_hrt.cpp

@@ -81,7 +81,7 @@ static void hrt_unlock()
 	px4_sem_post(&_hrt_lock);
 }
 
-int px4_clock_settime(clockid_t clk_id, const struct timespec *tp)
+int px4_clock_settime(clockid_t clk_id, struct timespec *tp)
 {
 	return 0;
 }

src/drivers/drv_hrt.h

@@ -162,16 +162,7 @@ static inline void abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
  */
 static inline hrt_abstime hrt_elapsed_time(const hrt_abstime *then)
 {
-	hrt_abstime now = hrt_absolute_time();
-
-	// Cannot allow a negative elapsed time as this would appear
-	// to be a huge positive elapsed time when represented as an
-	// unsigned value!
-	if (*then > now) {
-		return 0;
-	}
-
-	return now - *then;
+	return hrt_absolute_time() - *then;
 }
 
 /**

src/drivers/gps/gps.cpp

@@ -45,6 +45,7 @@
 #include <poll.h>
 #endif
 
+#include <termios.h>
 #include <cstring>
 
 #include <drivers/drv_sensor.h>
@@ -56,8 +57,6 @@
 #include <px4_platform_common/cli.h>
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
-#include <px4_platform_common/time.h>
-#include <px4_platform_common/Serial.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/Subscription.hpp>
@@ -82,7 +81,6 @@
 #include <linux/spi/spidev.h>
 #endif /* __PX4_LINUX */
 
-using namespace device;
 using namespace time_literals;
 
 #define TIMEOUT_1HZ		1300	//!< Timeout time in mS, 1000 mS (1Hz) + 300 mS delta for error
@@ -171,10 +169,7 @@ public:
 	void reset_if_scheduled();
 
 private:
-#ifdef __PX4_LINUX
-	int				_spi_fd {-1};					///< SPI interface to GPS
-#endif
-	Serial 			*_uart = nullptr;				///< UART interface to GPS
+	int				_serial_fd{-1};					///< serial interface to GPS
 	unsigned			_baudrate{0};					///< current baudrate
 	const unsigned			_configured_baudrate{0};			///< configured baudrate (0=auto-detect)
 	char				_port[20] {};					///< device / serial port path
@@ -334,11 +329,8 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac
 		char c = _port[strlen(_port) - 1]; // last digit of path (eg /dev/ttyS2)
 		set_device_bus(c - 48); // sub 48 to convert char to integer
 
-#ifdef __PX4_LINUX
-
 	} else if (_interface == GPSHelper::Interface::SPI) {
 		set_device_bus_type(device::Device::DeviceBusType::DeviceBusType_SPI);
-#endif
 	}
 
 	if (_mode == gps_driver_mode_t::None) {
@@ -411,23 +403,10 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
 			return num_read;
 		}
 
-	case GPSCallbackType::writeDeviceData: {
-			gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true);
+	case GPSCallbackType::writeDeviceData:
+		gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true);
 
-			int ret = 0;
-
-			if (gps->_uart) {
-				ret = gps->_uart->write((void *) data1, (size_t) data2);
-
-#ifdef __PX4_LINUX
-
-			} else if (gps->_spi_fd >= 0) {
-				ret = ::write(gps->_spi_fd, data1, (size_t)data2);
-#endif
-			}
-
-			return ret;
-		}
+		return ::write(gps->_serial_fd, data1, (size_t)data2);
 
 	case GPSCallbackType::setBaudrate:
 		return gps->setBaudrate(data2);
@@ -470,64 +449,72 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
 
 int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
 {
-	int ret = 0;
-	const unsigned character_count = 32; // minimum bytes that we want to read
-	const int max_timeout = 50;
-	int timeout_adjusted = math::min(max_timeout, timeout);
-
 	handleInjectDataTopic();
 
-	if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
-		ret = _uart->readAtLeast(buf, buf_length, character_count, timeout_adjusted);
+#if !defined(__PX4_QURT)
 
-// SPI is only supported on LInux
-#if defined(__PX4_LINUX)
+	/* For non QURT, use the usual polling. */
 
-	} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) {
+	//Poll only for the serial data. In the same thread we also need to handle orb messages,
+	//so ideally we would poll on both, the serial fd and orb subscription. Unfortunately the
+	//two pollings use different underlying mechanisms (at least under posix), which makes this
+	//impossible. Instead we limit the maximum polling interval and regularly check for new orb
+	//messages.
+	//FIXME: add a unified poll() API
+	const int max_timeout = 50;
 
-		//Poll only for the SPI data. In the same thread we also need to handle orb messages,
-		//so ideally we would poll on both, the SPI fd and orb subscription. Unfortunately the
-		//two pollings use different underlying mechanisms (at least under posix), which makes this
-		//impossible. Instead we limit the maximum polling interval and regularly check for new orb
-		//messages.
-		//FIXME: add a unified poll() API
+	pollfd fds[1];
+	fds[0].fd = _serial_fd;
+	fds[0].events = POLLIN;
 
-		pollfd fds[1];
-		fds[0].fd = _spi_fd;
-		fds[0].events = POLLIN;
+	int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), math::min(max_timeout, timeout));
 
-		ret = poll(fds, sizeof(fds) / sizeof(fds[0]), timeout_adjusted);
+	if (ret > 0) {
+		/* if we have new data from GPS, go handle it */
+		if (fds[0].revents & POLLIN) {
+			/*
+			 * We are here because poll says there is some data, so this
+			 * won't block even on a blocking device. But don't read immediately
+			 * by 1-2 bytes, wait for some more data to save expensive read() calls.
+			 * If we have all requested data available, read it without waiting.
+			 * If more bytes are available, we'll go back to poll() again.
+			 */
+			const unsigned character_count = 32; // minimum bytes that we want to read
+			unsigned baudrate = _baudrate == 0 ? 115200 : _baudrate;
+			const unsigned sleeptime = character_count * 1000000 / (baudrate / 10);
 
-		if (ret > 0) {
-			/* if we have new data from GPS, go handle it */
-			if (fds[0].revents & POLLIN) {
-				/*
-				 * We are here because poll says there is some data, so this
-				 * won't block even on a blocking device. But don't read immediately
-				 * by 1-2 bytes, wait for some more data to save expensive read() calls.
-				 * If we have all requested data available, read it without waiting.
-				 * If more bytes are available, we'll go back to poll() again.
-				 */
-				unsigned baudrate = _baudrate == 0 ? 115200 : _baudrate;
-				const unsigned sleeptime = character_count * 1000000 / (baudrate / 10);
+#ifdef __PX4_NUTTX
+			int err = 0;
+			int bytes_available = 0;
+			err = ::ioctl(_serial_fd, FIONREAD, (unsigned long)&bytes_available);
 
+			if (err != 0 || bytes_available < (int)character_count) {
 				px4_usleep(sleeptime);
-
-				ret = ::read(_spi_fd, buf, buf_length);
-
-				if (ret > 0) {
-					_num_bytes_read += ret;
-				}
-
-			} else {
-				ret = -1;
 			}
-		}
 
+#else
+			px4_usleep(sleeptime);
 #endif
+
+			ret = ::read(_serial_fd, buf, buf_length);
+
+			if (ret > 0) {
+				_num_bytes_read += ret;
+			}
+
+		} else {
+			ret = -1;
+		}
 	}
 
 	return ret;
+
+#else
+	/* For QURT, just use read for now, since this doesn't block, we need to slow it down
+	 * just a bit. */
+	px4_usleep(10000);
+	return ::read(_serial_fd, buf, buf_length);
+#endif
 }
 
 void GPS::handleInjectDataTopic()
@@ -596,38 +583,105 @@ bool GPS::injectData(uint8_t *data, size_t len)
 {
 	dumpGpsData(data, len, gps_dump_comm_mode_t::Full, true);
 
-	size_t written = 0;
-
-	if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
-		written = _uart->write((const void *) data, len);
-
-#ifdef __PX4_LINUX
-
-	} else if (_interface == GPSHelper::Interface::SPI) {
-		written = ::write(_spi_fd, data, len);
-		::fsync(_spi_fd);
-#endif
-	}
-
+	size_t written = ::write(_serial_fd, data, len);
+	::fsync(_serial_fd);
 	return written == len;
 }
 
 int GPS::setBaudrate(unsigned baud)
 {
-	if (_interface == GPSHelper::Interface::UART) {
-		if ((_uart) && (_uart->setBaudrate(baud))) {
-			return 0;
-		}
+	/* process baud rate */
+	int speed;
 
-#ifdef __PX4_LINUX
+	switch (baud) {
+	case 9600:   speed = B9600;   break;
 
-	} else if (_interface == GPSHelper::Interface::SPI) {
-		// Can't set the baudrate on a SPI port but just return a success
-		return 0;
+	case 19200:  speed = B19200;  break;
+
+	case 38400:  speed = B38400;  break;
+
+	case 57600:  speed = B57600;  break;
+
+	case 115200: speed = B115200; break;
+
+	case 230400: speed = B230400; break;
+
+#ifndef B460800
+#define B460800 460800
 #endif
+
+	case 460800: speed = B460800; break;
+
+#ifndef B921600
+#define B921600 921600
+#endif
+
+	case 921600: speed = B921600; break;
+
+	default:
+		PX4_ERR("ERR: unknown baudrate: %d", baud);
+		return -EINVAL;
 	}
 
-	return -1;
+	struct termios uart_config;
+
+	int termios_state;
+
+	/* fill the struct for the new configuration */
+	tcgetattr(_serial_fd, &uart_config);
+
+	/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
+
+	//
+	// Input flags - Turn off input processing
+	//
+	// convert break to null byte, no CR to NL translation,
+	// no NL to CR translation, don't mark parity errors or breaks
+	// no input parity check, don't strip high bit off,
+	// no XON/XOFF software flow control
+	//
+	uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
+				 INLCR | PARMRK | INPCK | ISTRIP | IXON);
+	//
+	// Output flags - Turn off output processing
+	//
+	// no CR to NL translation, no NL to CR-NL translation,
+	// no NL to CR translation, no column 0 CR suppression,
+	// no Ctrl-D suppression, no fill characters, no case mapping,
+	// no local output processing
+	//
+	// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
+	//                     ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
+	uart_config.c_oflag = 0;
+
+	//
+	// No line processing
+	//
+	// echo off, echo newline off, canonical mode off,
+	// extended input processing off, signal chars off
+	//
+	uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
+
+	/* no parity, one stop bit, disable flow control */
+	uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
+
+	/* set baud rate */
+	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
+		GPS_ERR("ERR: %d (cfsetispeed)", termios_state);
+		return -1;
+	}
+
+	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
+		GPS_ERR("ERR: %d (cfsetospeed)", termios_state);
+		return -1;
+	}
+
+	if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
+		GPS_ERR("ERR: %d (tcsetattr)", termios_state);
+		return -1;
+	}
+
+	return 0;
 }
 
 void GPS::initializeCommunicationDump()
@@ -786,58 +840,31 @@ GPS::run()
 			_helper = nullptr;
 		}
 
-		if ((_interface == GPSHelper::Interface::UART) && (_uart == nullptr)) {
+		if (_serial_fd < 0) {
+			/* open the serial port */
+			_serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
 
-			// Create the UART port instance
-			_uart = new Serial(_port);
-
-			if (_uart == nullptr) {
-				PX4_ERR("Error creating serial device %s", _port);
-				px4_sleep(1);
-				continue;
-			}
-		}
-
-		if ((_interface == GPSHelper::Interface::UART) && (! _uart->isOpen())) {
-			// Configure the desired baudrate if one was specified by the user.
-			// Otherwise the default baudrate will be used.
-			if (_configured_baudrate) {
-				if (! _uart->setBaudrate(_configured_baudrate)) {
-					PX4_ERR("Error setting baudrate to %u on %s", _configured_baudrate, _port);
-					px4_sleep(1);
-					continue;
-				}
-			}
-
-			// Open the UART. If this is successful then the UART is ready to use.
-			if (! _uart->open()) {
-				PX4_ERR("Error opening serial device  %s", _port);
+			if (_serial_fd < 0) {
+				PX4_ERR("failed to open %s err: %d", _port, errno);
 				px4_sleep(1);
 				continue;
 			}
 
 #ifdef __PX4_LINUX
 
-		} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd < 0)) {
-			_spi_fd = ::open(_port, O_RDWR | O_NOCTTY);
+			if (_interface == GPSHelper::Interface::SPI) {
+				int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi)
+				int status_value = ::ioctl(_serial_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
 
-			if (_spi_fd < 0) {
-				PX4_ERR("failed to open SPI port %s err: %d", _port, errno);
-				px4_sleep(1);
-				continue;
-			}
+				if (status_value < 0) {
+					PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
+				}
 
-			int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi)
-			int status_value = ::ioctl(_spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
+				status_value = ::ioctl(_serial_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed);
 
-			if (status_value < 0) {
-				PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
-			}
-
-			status_value = ::ioctl(_spi_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed);
-
-			if (status_value < 0) {
-				PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
+				if (status_value < 0) {
+					PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
+				}
 			}
 
 #endif /* __PX4_LINUX */
@@ -1029,17 +1056,9 @@ GPS::run()
 			}
 		}
 
-		if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
-			(void) _uart->close();
-			delete _uart;
-			_uart = nullptr;
-
-#ifdef __PX4_LINUX
-
-		} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) {
-			::close(_spi_fd);
-			_spi_fd = -1;
-#endif
+		if (_serial_fd >= 0) {
+			::close(_serial_fd);
+			_serial_fd = -1;
 		}
 
 		if (_mode_auto) {
@@ -1387,7 +1406,7 @@ int GPS::task_spawn(int argc, char *argv[], Instance instance)
 				   entry_point, (char *const *)argv);
 
 	if (task_id < 0) {
-		_task_id = -1;
+		task_id = -1;
 		return -errno;
 	}
 
@@ -1458,12 +1477,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
 			break;
 
 		case 'i':
-			if (!strcmp(myoptarg, "uart")) {
-				interface = GPSHelper::Interface::UART;
-#ifdef __PX4_LINUX
-			} else if (!strcmp(myoptarg, "spi")) {
+			if (!strcmp(myoptarg, "spi")) {
 				interface = GPSHelper::Interface::SPI;
-#endif
+
+			} else if (!strcmp(myoptarg, "uart")) {
+				interface = GPSHelper::Interface::UART;
+
 			} else {
 				PX4_ERR("unknown interface: %s", myoptarg);
 				error_flag = true;
@@ -1471,12 +1490,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
 			break;
 
 		case 'j':
-			if (!strcmp(myoptarg, "uart")) {
-				interface_secondary = GPSHelper::Interface::UART;
-#ifdef __PX4_LINUX
-			} else if (!strcmp(myoptarg, "spi")) {
+			if (!strcmp(myoptarg, "spi")) {
 				interface_secondary = GPSHelper::Interface::SPI;
-#endif
+
+			} else if (!strcmp(myoptarg, "uart")) {
+				interface_secondary = GPSHelper::Interface::UART;
+
 			} else {
 				PX4_ERR("unknown interface for secondary: %s", myoptarg);
 				error_flag = true;

src/drivers/px4io/px4io.cpp

@@ -364,13 +364,6 @@ PX4IO::~PX4IO()
 bool PX4IO::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 			  unsigned num_outputs, unsigned num_control_groups_updated)
 {
-	for (size_t i = 0; i < num_outputs; i++) {
-		if (!_mixing_output.isFunctionSet(i)) {
-			// do not run any signal on disabled channels
-			outputs[i] = 0;
-		}
-	}
-
 	if (!_test_fmu_fail) {
 		/* output to the servos */
 		io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, outputs, num_outputs);

src/drivers/uavcan/CMakeLists.txt

@@ -75,7 +75,6 @@ add_definitions(
 	-DUAVCAN_${UAVCAN_DRIVER_UPPER}_${OS_UPPER}=1
 	-DUAVCAN_${UAVCAN_DRIVER_UPPER}_NUM_IFACES=${config_uavcan_num_ifaces}
 	-DUAVCAN_${UAVCAN_DRIVER_UPPER}_TIMER_NUMBER=${UAVCAN_TIMER}
-	-DUAVCAN_NUM_IFACES=${config_uavcan_num_ifaces}
 	-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
 	-DUAVCAN_DRIVER=uavcan_${UAVCAN_DRIVER}
 	-DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1

src/drivers/uavcan/uavcan_main.cpp

@@ -744,41 +744,6 @@ UavcanNode::Run()
 
 	_node.spinOnce(); // expected to be non-blocking
 
-	// Publish status
-	constexpr hrt_abstime status_pub_interval = 100_ms;
-
-	if (hrt_absolute_time() - _last_can_status_pub >= status_pub_interval) {
-		_last_can_status_pub = hrt_absolute_time();
-
-		for (int i = 0; i < _node.getDispatcher().getCanIOManager().getCanDriver().getNumIfaces(); i++) {
-			if (i > UAVCAN_NUM_IFACES) {
-				break;
-			}
-
-			auto iface = _node.getDispatcher().getCanIOManager().getCanDriver().getIface(i);
-
-			if (!iface) {
-				continue;
-			}
-
-			auto iface_perf_cnt = _node.getDispatcher().getCanIOManager().getIfacePerfCounters(i);
-			can_interface_status_s status{
-				.timestamp = hrt_absolute_time(),
-				.io_errors = iface_perf_cnt.errors,
-				.frames_tx = iface_perf_cnt.frames_tx,
-				.frames_rx = iface_perf_cnt.frames_rx,
-				.interface = static_cast<uint8_t>(i),
-			};
-
-			if (_can_status_pub_handles[i] == nullptr) {
-				int instance{0};
-				_can_status_pub_handles[i] = orb_advertise_multi(ORB_ID(can_interface_status), nullptr, &instance);
-			}
-
-			(void)orb_publish(ORB_ID(can_interface_status), _can_status_pub_handles[i], &status);
-		}
-	}
-
 	// check for parameter updates
 	if (_parameter_update_sub.updated()) {
 		// clear update

src/drivers/uavcan/uavcan_main.hpp

@@ -96,7 +96,6 @@
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionInterval.hpp>
-#include <uORB/topics/can_interface_status.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/uavcan_parameter_request.h>
 #include <uORB/topics/uavcan_parameter_value.h>
@@ -310,10 +309,6 @@ private:
 
 	uORB::Publication<uavcan_parameter_value_s> _param_response_pub{ORB_ID(uavcan_parameter_value)};
 	uORB::Publication<vehicle_command_ack_s>	_command_ack_pub{ORB_ID(vehicle_command_ack)};
-	uORB::PublicationMulti<can_interface_status_s> _can_status_pub{ORB_ID(can_interface_status)};
-
-	hrt_abstime _last_can_status_pub{0};
-	orb_advert_t _can_status_pub_handles[UAVCAN_NUM_IFACES] = {nullptr};
 
 	/*
 	 * The MAVLink parameter bridge needs to know the maximum parameter index

src/lib/mathlib/math/Utilities.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2024 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -51,18 +51,17 @@ static constexpr float sq(float var) { return var * var; }
 // rot312(1) - Second rotation is a RH rotation about the X axis (rad)
 // rot312(2) - Third rotation is a RH rotation about the Y axis (rad)
 // See http://www.atacolorado.com/eulersequences.doc
-template<typename T = float>
-inline matrix::Dcm<T> taitBryan312ToRotMat(const matrix::Vector3<T> &rot312)
+inline matrix::Dcmf taitBryan312ToRotMat(const matrix::Vector3f &rot312)
 {
 	// Calculate the frame2 to frame 1 rotation matrix from a 312 Tait-Bryan rotation sequence
-	const T c2 = cosf(rot312(2)); // third rotation is pitch
-	const T s2 = sinf(rot312(2));
-	const T s1 = sinf(rot312(1)); // second rotation is roll
-	const T c1 = cosf(rot312(1));
-	const T s0 = sinf(rot312(0)); // first rotation is yaw
-	const T c0 = cosf(rot312(0));
+	const float c2 = cosf(rot312(2)); // third rotation is pitch
+	const float s2 = sinf(rot312(2));
+	const float s1 = sinf(rot312(1)); // second rotation is roll
+	const float c1 = cosf(rot312(1));
+	const float s0 = sinf(rot312(0)); // first rotation is yaw
+	const float c0 = cosf(rot312(0));
 
-	matrix::Dcm<T> R;
+	matrix::Dcmf R;
 	R(0, 0) = c0 * c2 - s0 * s1 * s2;
 	R(1, 1) = c0 * c1;
 	R(2, 2) = c2 * c1;
@@ -76,21 +75,20 @@ inline matrix::Dcm<T> taitBryan312ToRotMat(const matrix::Vector3<T> &rot312)
 	return R;
 }
 
-template<typename T = float>
-inline matrix::Dcm<T> quatToInverseRotMat(const matrix::Quaternion<T> &quat)
+inline matrix::Dcmf quatToInverseRotMat(const matrix::Quatf &quat)
 {
-	const T q00 = quat(0) * quat(0);
-	const T q11 = quat(1) * quat(1);
-	const T q22 = quat(2) * quat(2);
-	const T q33 = quat(3) * quat(3);
-	const T q01 = quat(0) * quat(1);
-	const T q02 = quat(0) * quat(2);
-	const T q03 = quat(0) * quat(3);
-	const T q12 = quat(1) * quat(2);
-	const T q13 = quat(1) * quat(3);
-	const T q23 = quat(2) * quat(3);
+	const float q00 = quat(0) * quat(0);
+	const float q11 = quat(1) * quat(1);
+	const float q22 = quat(2) * quat(2);
+	const float q33 = quat(3) * quat(3);
+	const float q01 = quat(0) * quat(1);
+	const float q02 = quat(0) * quat(2);
+	const float q03 = quat(0) * quat(3);
+	const float q12 = quat(1) * quat(2);
+	const float q13 = quat(1) * quat(3);
+	const float q23 = quat(2) * quat(3);
 
-	matrix::Dcm<T> dcm;
+	matrix::Dcmf dcm;
 	dcm(0, 0) = q00 + q11 - q22 - q33;
 	dcm(1, 1) = q00 - q11 + q22 - q33;
 	dcm(2, 2) = q00 - q11 - q22 + q33;
@@ -107,46 +105,40 @@ inline matrix::Dcm<T> quatToInverseRotMat(const matrix::Quaternion<T> &quat)
 // We should use a 3-2-1 Tait-Bryan (yaw-pitch-roll) rotation sequence
 // when there is more roll than pitch tilt and a 3-1-2 rotation sequence
 // when there is more pitch than roll tilt to avoid gimbal lock.
-template<typename T = float>
-inline bool shouldUse321RotationSequence(const matrix::Dcm<T> &R)
+inline bool shouldUse321RotationSequence(const matrix::Dcmf &R)
 {
 	return fabsf(R(2, 0)) < fabsf(R(2, 1));
 }
 
-template<typename T = float>
-inline float getEuler321Yaw(const matrix::Dcm<T> &R)
+inline float getEuler321Yaw(const matrix::Dcmf &R)
 {
 	return atan2f(R(1, 0), R(0, 0));
 }
 
-template<typename T = float>
-inline float getEuler312Yaw(const matrix::Dcm<T> &R)
+inline float getEuler312Yaw(const matrix::Dcmf &R)
 {
 	return atan2f(-R(0, 1), R(1, 1));
 }
 
-template<typename T = float>
-inline T getEuler321Yaw(const matrix::Quaternion<T> &q)
+inline float getEuler321Yaw(const matrix::Quatf &q)
 {
 	// Values from yaw_input_321.c file produced by
 	// https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/quat2yaw321.m
-	const T a = static_cast<T>(2.) * (q(0) * q(3) + q(1) * q(2));
-	const T b = sq(q(0)) + sq(q(1)) - sq(q(2)) - sq(q(3));
+	const float a = 2.f * (q(0) * q(3) + q(1) * q(2));
+	const float b = sq(q(0)) + sq(q(1)) - sq(q(2)) - sq(q(3));
 	return atan2f(a, b);
 }
 
-template<typename T = float>
-inline T getEuler312Yaw(const matrix::Quaternion<T> &q)
+inline float getEuler312Yaw(const matrix::Quatf &q)
 {
 	// Values from yaw_input_312.c file produced by
 	// https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/quat2yaw312.m
-	const T a = static_cast<T>(2.) * (q(0) * q(3) - q(1) * q(2));
-	const T b = sq(q(0)) - sq(q(1)) + sq(q(2)) - sq(q(3));
+	const float a = 2.f * (q(0) * q(3) - q(1) * q(2));
+	const float b = sq(q(0)) - sq(q(1)) + sq(q(2)) - sq(q(3));
 	return atan2f(a, b);
 }
 
-template<typename T = float>
-inline T getEulerYaw(const matrix::Dcm<T> &R)
+inline float getEulerYaw(const matrix::Dcmf &R)
 {
 	if (shouldUse321RotationSequence(R)) {
 		return getEuler321Yaw(R);
@@ -156,32 +148,23 @@ inline T getEulerYaw(const matrix::Dcm<T> &R)
 	}
 }
 
-template<typename T = float>
-inline T getEulerYaw(const matrix::Quaternion<T> &q)
+inline matrix::Dcmf updateEuler321YawInRotMat(float yaw, const matrix::Dcmf &rot_in)
 {
-	return getEulerYaw(matrix::Dcm<T>(q));
-}
-
-template<typename T = float>
-inline matrix::Dcm<T> updateEuler321YawInRotMat(T yaw, const matrix::Dcm<T> &rot_in)
-{
-	matrix::Euler<T> euler321(rot_in);
+	matrix::Eulerf euler321(rot_in);
 	euler321(2) = yaw;
-	return matrix::Dcm<T>(euler321);
+	return matrix::Dcmf(euler321);
 }
 
-template<typename T = float>
-inline matrix::Dcm<T> updateEuler312YawInRotMat(T yaw, const matrix::Dcm<T> &rot_in)
+inline matrix::Dcmf updateEuler312YawInRotMat(float yaw, const matrix::Dcmf &rot_in)
 {
-	const matrix::Vector3<T> rotVec312(yaw,                                  // yaw
-					   asinf(rot_in(2, 1)),                  // roll
-					   atan2f(-rot_in(2, 0), rot_in(2, 2))); // pitch
+	const matrix::Vector3f rotVec312(yaw,  // yaw
+					 asinf(rot_in(2, 1)),  // roll
+					 atan2f(-rot_in(2, 0), rot_in(2, 2)));  // pitch
 	return taitBryan312ToRotMat(rotVec312);
 }
 
 // Checks which euler rotation sequence to use and update yaw in rotation matrix
-template<typename T = float>
-inline matrix::Dcm<T> updateYawInRotMat(T yaw, const matrix::Dcm<T> &rot_in)
+inline matrix::Dcmf updateYawInRotMat(float yaw, const matrix::Dcmf &rot_in)
 {
 	if (shouldUse321RotationSequence(rot_in)) {
 		return updateEuler321YawInRotMat(yaw, rot_in);

src/lib/mixer_module/mixer_module.cpp

@@ -455,8 +455,7 @@ bool MixingOutput::update()
 		}
 	}
 
-	// Send output if any function mapped or one last disabling sample
-	if (!all_disabled || !_was_all_disabled) {
+	if (!all_disabled) {
 		if (!_armed.armed && !_armed.manual_lockdown) {
 			_actuator_test.overrideValues(outputs, _max_num_outputs);
 		}
@@ -464,8 +463,6 @@ bool MixingOutput::update()
 		limitAndUpdateOutputs(outputs, has_updates);
 	}
 
-	_was_all_disabled = all_disabled;
-
 	return true;
 }
 

src/lib/mixer_module/mixer_module.hpp

@@ -288,7 +288,6 @@ private:
 	hrt_abstime _lowrate_schedule_interval{300_ms};
 	ActuatorTest _actuator_test{_function_assignment};
 	uint32_t _reversible_mask{0}; ///< per-output bits. If set, the output is configured to be reversible (motors only)
-	bool _was_all_disabled{false};
 
 	uORB::SubscriptionCallbackWorkItem *_subscription_callback{nullptr}; ///< current scheduling callback
 

src/lib/mixer_module/mixer_module_tests.cpp

@@ -191,15 +191,11 @@ TEST_F(MixerModuleTest, basic)
 	mixing_output.setAllMaxValues(MAX_VALUE);
 	EXPECT_EQ(test_module.num_updates, 0);
 
-	// all functions disabled: expect to get one single update to process disabling the output signal
+	// all functions disabled: not expected to get an update
 	mixing_output.update();
 	mixing_output.updateSubscriptions(false);
 	mixing_output.update();
-	EXPECT_EQ(test_module.num_updates, 1);
-	mixing_output.update();
-	mixing_output.updateSubscriptions(false);
-	mixing_output.update();
-	EXPECT_EQ(test_module.num_updates, 1);
+	EXPECT_EQ(test_module.num_updates, 0);
 	test_module.reset();
 
 	// configure motor, ensure all still disarmed

src/modules/commander/failsafe/framework.cpp

@@ -517,8 +517,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 			break;
 		}
 
-		returned_state.cause = Cause::Generic;
-
 	// fallthrough
 	case Action::FallbackAltCtrl:
 		if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_ALTCTL)) {
@@ -526,8 +524,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 			break;
 		}
 
-		returned_state.cause = Cause::Generic;
-
 	// fallthrough
 	case Action::FallbackStab:
 		if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_STAB)) {
@@ -535,8 +531,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 			break;
 		} // else: fall through here as well. If stabilized isn't available, we most certainly end up in Terminate
 
-		returned_state.cause = Cause::Generic;
-
 	// fallthrough
 	case Action::Hold:
 		if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER)) {
@@ -544,8 +538,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 			break;
 		}
 
-		returned_state.cause = Cause::Generic;
-
 	// fallthrough
 	case Action::RTL:
 		if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_RTL)) {
@@ -553,8 +545,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 			break;
 		}
 
-		returned_state.cause = Cause::Generic;
-
 	// fallthrough
 	case Action::Land:
 		if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_LAND)) {
@@ -562,8 +552,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 			break;
 		}
 
-		returned_state.cause = Cause::Generic;
-
 	// fallthrough
 	case Action::Descend:
 		if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_DESCEND)) {
@@ -571,8 +559,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 			break;
 		}
 
-		returned_state.cause = Cause::Generic;
-
 	// fallthrough
 	case Action::Terminate:
 		selected_action = Action::Terminate;

src/modules/ekf2/EKF/ekf.h

@@ -485,14 +485,9 @@ public:
 #else
 		// Efficient implementation of the Joseph stabilized covariance update
 		// Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006"
-		// P = (I - K * H) * P * (I - K * H).T   + K * R * K.T
-		//   =      P_temp     * (I - H.T * K.T) + K * R * K.T
-		//   =      P_temp - P_temp * H.T * K.T  + K * R * K.T
 
 		// Step 1: conventional update
-		// Compute P_temp and store it in P to avoid allocating more memory
-		// P is symmetric, so PH == H.T * P.T == H.T * P. Taking the row is faster as matrices are row-major
-		VectorState PH = P * H; // H is stored as a column vector. H is in fact H.T
+		VectorState PH = P * H;
 
 		for (unsigned i = 0; i < State::size; i++) {
 			for (unsigned j = 0; j < State::size; j++) {
@@ -501,7 +496,7 @@ public:
 		}
 
 		// Step 2: stabilized update
-		PH = P * H; // H is stored as a column vector. H is in fact H.T
+		PH = P * H;
 
 		for (unsigned i = 0; i < State::size; i++) {
 			for (unsigned j = 0; j <= i; j++) {

src/modules/ekf2/EKF/ekf_helper.cpp

@@ -865,24 +865,18 @@ bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, c
 #else
 	// Efficient implementation of the Joseph stabilized covariance update
 	// Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006"
-	// P = (I - K * H) * P * (I - K * H).T   + K * R * K.T
-	//   =      P_temp     * (I - H.T * K.T) + K * R * K.T
-	//   =      P_temp - P_temp * H.T * K.T  + K * R * K.T
 
 	// Step 1: conventional update
-	// Compute P_temp and store it in P to avoid allocating more memory
-	// P is symmetric, so PH == H.T * P.T == H.T * P. Taking the row is faster as matrices are row-major
 	VectorState PH = P.row(state_index);
 
 	for (unsigned i = 0; i < State::size; i++) {
 		for (unsigned j = 0; j < State::size; j++) {
-			P(i, j) -= K(i) * PH(j); // P is now not symmetric if K is not optimal (e.g.: some gains have been zeroed)
+			P(i, j) -= K(i) * PH(j); // P is now not symmetrical if K is not optimal (e.g.: some gains have been zeroed)
 		}
 	}
 
 	// Step 2: stabilized update
-	// P (or "P_temp") is not symmetric so we must take the column
-	PH = P.col(state_index);
+	PH = P.row(state_index);
 
 	for (unsigned i = 0; i < State::size; i++) {
 		for (unsigned j = 0; j <= i; j++) {

src/modules/ekf2/EKF/gps_control.cpp

@@ -246,7 +246,7 @@ bool Ekf::tryYawEmergencyReset()
 	bool success = false;
 
 	/* A rapid reset to the yaw emergency estimate is performed if horizontal velocity innovation checks continuously
-	 * fails while the difference between the yaw emergency estimator and the yaw estimate is large.
+	 * fails while the difference between the yaw emergency estimator and the yas estimate is large.
 	 * This enables recovery from a bad yaw estimate. A reset is not performed if the fault condition was
 	 * present before flight to prevent triggering due to GPS glitches or other sensor errors.
 	 */

src/modules/ekf2/EKF2.cpp

@@ -217,7 +217,6 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_attitude_pub.advertise();
 	_local_position_pub.advertise();
 
-	_estimator_event_flags_pub.advertise();
 	_estimator_innovation_test_ratios_pub.advertise();
 	_estimator_innovation_variances_pub.advertise();
 	_estimator_innovations_pub.advertise();
@@ -238,7 +237,6 @@ bool EKF2::multi_init(int imu, int mag)
 {
 	// advertise all topics to ensure consistent uORB instance numbering
 	_ekf2_timestamps_pub.advertise();
-	_estimator_event_flags_pub.advertise();
 	_estimator_innovation_test_ratios_pub.advertise();
 	_estimator_innovation_variances_pub.advertise();
 	_estimator_innovations_pub.advertise();
@@ -1050,55 +1048,235 @@ void EKF2::PublishEventFlags(const hrt_abstime &timestamp)
 	}
 
 	if (information_event_updated || warning_event_updated) {
-		estimator_event_flags_s event_flags{};
-		event_flags.timestamp_sample = _ekf.time_delayed_us();
+		if (_ekf.information_event_flags().gps_checks_passed) {
+			/* EVENT
+			 * @group ekf2
+			 * @description
+			 * The GNSS checks enabled by <param>EKF2_GPS_CHECK</param> have passed.
+			 */
+			events::send<int32_t>(events::ID("ekf2_gnss_checks_passed"), events::Log::Debug,
+					      "EKF2({1}): GNSS checks passed", _instance);
+		}
 
-		event_flags.information_event_changes           = _filter_information_event_changes;
-		event_flags.gps_checks_passed                   = _ekf.information_event_flags().gps_checks_passed;
-		event_flags.reset_vel_to_gps                    = _ekf.information_event_flags().reset_vel_to_gps;
-		event_flags.reset_vel_to_flow                   = _ekf.information_event_flags().reset_vel_to_flow;
-		event_flags.reset_vel_to_vision                 = _ekf.information_event_flags().reset_vel_to_vision;
-		event_flags.reset_vel_to_zero                   = _ekf.information_event_flags().reset_vel_to_zero;
-		event_flags.reset_pos_to_last_known             = _ekf.information_event_flags().reset_pos_to_last_known;
-		event_flags.reset_pos_to_gps                    = _ekf.information_event_flags().reset_pos_to_gps;
-		event_flags.reset_pos_to_vision                 = _ekf.information_event_flags().reset_pos_to_vision;
-		event_flags.starting_gps_fusion                 = _ekf.information_event_flags().starting_gps_fusion;
-		event_flags.starting_vision_pos_fusion          = _ekf.information_event_flags().starting_vision_pos_fusion;
-		event_flags.starting_vision_vel_fusion          = _ekf.information_event_flags().starting_vision_vel_fusion;
-		event_flags.starting_vision_yaw_fusion          = _ekf.information_event_flags().starting_vision_yaw_fusion;
-		event_flags.yaw_aligned_to_imu_gps              = _ekf.information_event_flags().yaw_aligned_to_imu_gps;
-		event_flags.reset_hgt_to_baro                   = _ekf.information_event_flags().reset_hgt_to_baro;
-		event_flags.reset_hgt_to_gps                    = _ekf.information_event_flags().reset_hgt_to_gps;
-		event_flags.reset_hgt_to_rng                    = _ekf.information_event_flags().reset_hgt_to_rng;
-		event_flags.reset_hgt_to_ev                     = _ekf.information_event_flags().reset_hgt_to_ev;
+		if (_ekf.information_event_flags().reset_vel_to_gps) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_reset_vel_to_gnss"), events::Log::Debug,
+					      "EKF2({1}): Reset velocity to GNSS", _instance);
+		}
 
-		event_flags.warning_event_changes               = _filter_warning_event_changes;
-		event_flags.gps_quality_poor                    = _ekf.warning_event_flags().gps_quality_poor;
-		event_flags.gps_fusion_timout                   = _ekf.warning_event_flags().gps_fusion_timout;
-		event_flags.gps_data_stopped                    = _ekf.warning_event_flags().gps_data_stopped;
-		event_flags.gps_data_stopped_using_alternate    = _ekf.warning_event_flags().gps_data_stopped_using_alternate;
-		event_flags.height_sensor_timeout               = _ekf.warning_event_flags().height_sensor_timeout;
-		event_flags.stopping_navigation                 = _ekf.warning_event_flags().stopping_mag_use;
-		event_flags.invalid_accel_bias_cov_reset        = _ekf.warning_event_flags().invalid_accel_bias_cov_reset;
-		event_flags.bad_yaw_using_gps_course            = _ekf.warning_event_flags().bad_yaw_using_gps_course;
-		event_flags.stopping_mag_use                    = _ekf.warning_event_flags().stopping_mag_use;
-		event_flags.vision_data_stopped                 = _ekf.warning_event_flags().vision_data_stopped;
-		event_flags.emergency_yaw_reset_mag_stopped     = _ekf.warning_event_flags().emergency_yaw_reset_mag_stopped;
-		event_flags.emergency_yaw_reset_gps_yaw_stopped = _ekf.warning_event_flags().emergency_yaw_reset_gps_yaw_stopped;
+		if (_ekf.information_event_flags().reset_vel_to_flow) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_reset_vel_to_flow"), events::Log::Debug,
+					      "EKF2({1}): Reset velocity to optical flow", _instance);
+		}
 
-		event_flags.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
-		_estimator_event_flags_pub.update(event_flags);
+		if (_ekf.information_event_flags().reset_vel_to_vision) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_reset_vel_to_vision"), events::Log::Debug,
+					      "EKF2({1}): Reset velocity vision", _instance);
+		}
 
-		_last_event_flags_publish = event_flags.timestamp;
+		if (_ekf.information_event_flags().reset_vel_to_zero) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_reset_vel_to_zero"), events::Log::Debug,
+					      "EKF2({1}): Reset velocity zero", _instance);
+		}
+
+		if (_ekf.information_event_flags().reset_pos_to_last_known) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_reset_pos_to_last_known"), events::Log::Debug,
+					      "EKF2({1}): Reset position to last known", _instance);
+		}
+
+		if (_ekf.information_event_flags().reset_pos_to_gps) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_reset_pos_to_gnss"), events::Log::Debug,
+					      "EKF2({1}): Reset position to GNSS", _instance);
+		}
+
+		if (_ekf.information_event_flags().reset_pos_to_vision) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_reset_pos_to_vision"), events::Log::Debug,
+					      "EKF2({1}): Reset position to vision", _instance);
+		}
+
+		if (_ekf.information_event_flags().starting_gps_fusion) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_starting_gnss_fusion"), events::Log::Debug,
+					      "EKF2({1}): Starting GNSS fusion", _instance);
+		}
+
+		if (_ekf.information_event_flags().starting_vision_pos_fusion) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_starting_vision_pos_fusion"), events::Log::Debug,
+					      "EKF2({1}): Starting vision position fusion", _instance);
+		}
+
+		if (_ekf.information_event_flags().starting_vision_vel_fusion) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_starting_vision_vel_fusion"), events::Log::Debug,
+					      "EKF2({1}): Starting vision velocity fusion", _instance);
+		}
+
+		if (_ekf.information_event_flags().starting_vision_yaw_fusion) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_starting_vision_yaw_fusion"), events::Log::Debug,
+					      "EKF2({1}): Starting vision yaw fusion", _instance);
+		}
+
+		if (_ekf.information_event_flags().yaw_aligned_to_imu_gps) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_yaw_aligned_to_imu_gnss"), events::Log::Debug,
+					      "EKF2({1}): Yaw aligned using IMU and GNSS", _instance);
+		}
+
+		if (_ekf.information_event_flags().reset_hgt_to_baro) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_reset_hgt_to_baro"), events::Log::Debug,
+					      "EKF2({1}): Reset height to baro", _instance);
+		}
+
+		if (_ekf.information_event_flags().reset_hgt_to_gps) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_reset_hgt_to_gnss"), events::Log::Debug,
+					      "EKF2({1}): Reset height to GNSS", _instance);
+		}
+
+		if (_ekf.information_event_flags().reset_hgt_to_rng) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_reset_hgt_to_rng"), events::Log::Debug,
+					      "EKF2({1}): Reset height to range finder", _instance);
+		}
+
+		if (_ekf.information_event_flags().reset_hgt_to_ev) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_reset_hgt_to_ev"), events::Log::Debug,
+					      "EKF2({1}): Reset height to vision", _instance);
+		}
+
+		// Warning events
+		if (_ekf.warning_event_flags().gps_quality_poor) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_gnss_quality_poor"), {events::Log::Debug, events::LogInternal::Warning},
+					      "EKF2({1}): Poor GNSS quality", _instance);
+		}
+
+		if (_ekf.warning_event_flags().gps_fusion_timout) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_gnss_fusion_timout"), {events::Log::Debug, events::LogInternal::Warning},
+					      "EKF2({1}): GNSS fusion timeout", _instance);
+		}
+
+		if (_ekf.warning_event_flags().gps_data_stopped) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_gnss_data_stopped"), {events::Log::Debug, events::LogInternal::Warning},
+					      "EKF2({1}): GNSS data stopped", _instance);
+		}
+
+		if (_ekf.warning_event_flags().gps_data_stopped_using_alternate) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_gnss_data_stopped_using_alternate"), {events::Log::Debug, events::LogInternal::Warning},
+					      "EKF2({1}): GNSS data stopped, using alternate aiding source", _instance);
+		}
+
+		if (_ekf.warning_event_flags().height_sensor_timeout) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_height_sensor_timeout"), {events::Log::Debug, events::LogInternal::Warning},
+					      "EKF2({1}): Height sensor timeout", _instance);
+		}
+
+		if (_ekf.warning_event_flags().stopping_mag_use) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_stopping_mag_use"), {events::Log::Debug, events::LogInternal::Warning},
+					      "EKF2({1}): Stopping magnetometer use", _instance);
+		}
+
+		if (_ekf.warning_event_flags().invalid_accel_bias_cov_reset) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_invalid_accel_bias_cov_reset"), {events::Log::Debug, events::LogInternal::Warning},
+					      "EKF2({1}): Invalid accelerometer bias, resetting covariance", _instance);
+		}
+
+		if (_ekf.warning_event_flags().bad_yaw_using_gps_course) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_bad_yaw_using_gnss_course"), {events::Log::Debug, events::LogInternal::Warning},
+					      "EKF2({1}): Bad yaw, reset to GNSS COG", _instance);
+		}
+
+		if (_ekf.warning_event_flags().vision_data_stopped) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_vision_data_stopped"), {events::Log::Debug, events::LogInternal::Warning},
+					      "EKF2({1}): Vision data stopped", _instance);
+		}
+
+		if (_ekf.warning_event_flags().emergency_yaw_reset_mag_stopped) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_emergency_yaw_reset_mag_stopped"), {events::Log::Debug, events::LogInternal::Warning},
+					      "EKF2({1}): Emergency yaw reset, stopping magnetometer use", _instance);
+		}
+
+		if (_ekf.warning_event_flags().emergency_yaw_reset_gps_yaw_stopped) {
+			/* EVENT
+			 * @group ekf2
+			 */
+			events::send<int32_t>(events::ID("ekf2_emergency_yaw_reset_gnss_yaw_stopped"), {events::Log::Debug, events::LogInternal::Warning},
+					      "EKF2({1}): Emergency yaw reset, stopping GNSS yaw use", _instance);
+		}
 
 		_ekf.clear_information_events();
 		_ekf.clear_warning_events();
-
-	} else if ((_last_event_flags_publish != 0) && (timestamp >= _last_event_flags_publish + 1_s)) {
-		// continue publishing periodically
-		_estimator_event_flags_pub.get().timestamp = _replay_mode ? timestamp : hrt_absolute_time();
-		_estimator_event_flags_pub.update();
-		_last_event_flags_publish = _estimator_event_flags_pub.get().timestamp;
 	}
 }
 

src/modules/ekf2/EKF2.hpp

@@ -67,7 +67,6 @@
 #include <uORB/topics/ekf2_timestamps.h>
 #include <uORB/topics/estimator_bias.h>
 #include <uORB/topics/estimator_bias3d.h>
-#include <uORB/topics/estimator_event_flags.h>
 #include <uORB/topics/estimator_innovations.h>
 #include <uORB/topics/estimator_sensor_bias.h>
 #include <uORB/topics/estimator_states.h>
@@ -421,7 +420,6 @@ private:
 
 	bool _callback_registered{false};
 
-	hrt_abstime _last_event_flags_publish{0};
 	hrt_abstime _last_status_flags_publish{0};
 
 	uint64_t _filter_control_status{0};
@@ -435,7 +433,6 @@ private:
 	uint32_t _filter_information_event_changes{0};
 
 	uORB::PublicationMulti<ekf2_timestamps_s>            _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
-	uORB::PublicationMultiData<estimator_event_flags_s>  _estimator_event_flags_pub{ORB_ID(estimator_event_flags)};
 	uORB::PublicationMulti<estimator_innovations_s>      _estimator_innovation_test_ratios_pub{ORB_ID(estimator_innovation_test_ratios)};
 	uORB::PublicationMulti<estimator_innovations_s>      _estimator_innovation_variances_pub{ORB_ID(estimator_innovation_variances)};
 	uORB::PublicationMulti<estimator_innovations_s>      _estimator_innovations_pub{ORB_ID(estimator_innovations)};

src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv

@@ -12,380 +12,380 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
 990000,1,-0.0099,-0.013,0.00013,0.015,0.0064,-0.092,0.0022,0.0014,-0.029,1.6e-05,-1.5e-05,-6.5e-07,0,0,-0.00016,0,0,0,0,0,0,0,0,0.021,0.021,0.00065,1.5,1.5,2,0.3,0.3,0.61,0.0099,0.01,0.00068,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
 1090000,1,-0.01,-0.014,0.00013,0.016,0.0051,-0.11,0.0018,0.00086,-0.039,4.1e-05,-6.2e-05,-2.1e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.023,0.023,0.00047,0.93,0.93,2,0.17,0.17,0.84,0.0098,0.0098,0.00042,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
 1190000,1,-0.01,-0.014,0.0001,0.02,0.0053,-0.12,0.0035,0.0014,-0.051,4.1e-05,-6.2e-05,-2.1e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.025,0.025,0.00055,1.1,1.1,2,0.24,0.24,1.1,0.0098,0.0098,0.00042,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-1290000,1,-0.01,-0.014,0.00016,0.02,0.0044,-0.14,0.0027,0.00089,-0.064,8.5e-05,-0.00019,-5.6e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.026,0.026,0.00042,0.89,0.89,2,0.15,0.15,1.4,0.0095,0.0095,0.00029,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-1390000,1,-0.01,-0.014,0.00017,0.026,0.0042,-0.15,0.0051,0.0013,-0.078,8.5e-05,-0.00019,-5.6e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.028,0.028,0.00048,1.2,1.2,2,0.21,0.21,1.7,0.0095,0.0095,0.00029,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-1490000,1,-0.01,-0.014,0.00015,0.024,0.0029,-0.16,0.0038,0.00083,-0.093,0.00015,-0.00045,-1.2e-05,0,0,-0.00016,0,0,0,0,0,0,0,0,0.027,0.027,0.00038,0.96,0.96,2,0.14,0.14,2.1,0.0088,0.0088,0.0002,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-1590000,1,-0.01,-0.014,0.00015,0.03,0.0035,-0.18,0.0065,0.0012,-0.11,0.00015,-0.00045,-1.2e-05,0,0,-0.00016,0,0,0,0,0,0,0,0,0.03,0.03,0.00043,1.3,1.3,2,0.2,0.2,2.6,0.0088,0.0088,0.0002,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-1690000,1,-0.011,-0.014,0.00012,0.028,-9.5e-05,-0.19,0.0045,0.00063,-0.13,0.0002,-0.00088,-2.2e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.026,0.026,0.00034,1,1,2,0.14,0.14,3,0.0078,0.0078,0.00015,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-1790000,1,-0.011,-0.014,9.5e-05,0.035,-0.0019,-0.2,0.0076,0.00054,-0.15,0.0002,-0.00088,-2.2e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.028,0.028,0.00038,1.3,1.3,2,0.2,0.2,3.5,0.0078,0.0078,0.00015,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-1890000,1,-0.011,-0.015,7.5e-05,0.043,-0.0032,-0.22,0.011,0.00029,-0.17,0.0002,-0.00088,-2.2e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.031,0.031,0.00043,1.7,1.7,2,0.31,0.31,4.1,0.0078,0.0078,0.00015,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-1990000,1,-0.011,-0.014,8.5e-05,0.036,-0.0046,-0.23,0.0082,-0.00027,-0.19,0.00022,-0.0014,-3.3e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.025,0.025,0.00034,1.3,1.3,2.1,0.2,0.2,4.7,0.0067,0.0067,0.00011,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-2090000,1,-0.011,-0.014,4.7e-05,0.041,-0.0071,-0.24,0.012,-0.00085,-0.22,0.00022,-0.0014,-3.3e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.027,0.027,0.00038,1.7,1.7,2.1,0.31,0.31,5.3,0.0067,0.0067,0.00011,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-2190000,1,-0.011,-0.014,5.8e-05,0.033,-0.0068,-0.26,0.0079,-0.00096,-0.24,0.00017,-0.002,-4.3e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.02,0.02,0.00031,1.2,1.2,2.1,0.2,0.2,6,0.0055,0.0055,8.9e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-2290000,1,-0.011,-0.014,4.5e-05,0.039,-0.0093,-0.27,0.011,-0.0017,-0.27,0.00017,-0.002,-4.3e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.022,0.022,0.00034,1.5,1.5,2.1,0.3,0.3,6.7,0.0055,0.0055,8.9e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-2390000,1,-0.011,-0.013,6.2e-05,0.03,-0.0087,-0.29,0.0074,-0.0015,-0.3,9e-05,-0.0025,-5.2e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.017,0.017,0.00028,1,1,2.1,0.19,0.19,7.4,0.0046,0.0046,7.1e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-2490000,1,-0.011,-0.013,4.4e-05,0.035,-0.011,-0.3,0.011,-0.0024,-0.32,9e-05,-0.0025,-5.2e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.018,0.018,0.00031,1.3,1.3,2.1,0.28,0.28,8.2,0.0046,0.0046,7.1e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-2590000,1,-0.011,-0.013,5.8e-05,0.026,-0.009,-0.31,0.0068,-0.0018,-0.36,-1.4e-05,-0.0029,-5.8e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.014,0.014,0.00026,0.89,0.89,2.1,0.18,0.18,9.1,0.0038,0.0038,5.8e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-2690000,1,-0.011,-0.013,5.5e-05,0.03,-0.01,-0.33,0.0097,-0.0028,-0.39,-1.4e-05,-0.0029,-5.8e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.015,0.015,0.00028,1.1,1.1,2.2,0.25,0.25,10,0.0038,0.0038,5.8e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-2790000,1,-0.011,-0.013,4.8e-05,0.023,-0.0093,-0.34,0.0062,-0.0019,-0.42,-0.00012,-0.0033,-6.3e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.011,0.011,0.00024,0.77,0.77,2.2,0.16,0.16,11,0.0032,0.0032,4.8e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-2890000,1,-0.011,-0.013,-1.8e-06,0.027,-0.011,-0.35,0.0087,-0.0029,-0.46,-0.00012,-0.0033,-6.3e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.013,0.013,0.00026,0.95,0.95,2.2,0.23,0.23,12,0.0032,0.0032,4.8e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-2990000,1,-0.011,-0.013,4.6e-05,0.022,-0.0095,-0.36,0.0057,-0.0021,-0.49,-0.00023,-0.0036,-6.7e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.0099,0.0099,0.00022,0.67,0.67,2.2,0.15,0.15,13,0.0027,0.0027,4e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-3090000,1,-0.011,-0.013,4.8e-05,0.025,-0.011,-0.38,0.008,-0.0031,-0.53,-0.00023,-0.0036,-6.7e-05,0,0,-0.00018,0,0,0,0,0,0,0,0,0.011,0.011,0.00024,0.83,0.83,2.2,0.22,0.22,14,0.0027,0.0027,4e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-3190000,1,-0.011,-0.013,-8.9e-06,0.02,-0.0086,-0.39,0.0053,-0.0021,-0.57,-0.00034,-0.0039,-7e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.0087,0.0087,0.00021,0.59,0.59,2.3,0.14,0.14,15,0.0023,0.0023,3.4e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-3290000,1,-0.011,-0.013,3.1e-05,0.023,-0.01,-0.4,0.0074,-0.003,-0.61,-0.00034,-0.0039,-7e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.0096,0.0096,0.00022,0.73,0.73,2.3,0.2,0.2,16,0.0023,0.0023,3.4e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-3390000,1,-0.011,-0.012,2.5e-06,0.018,-0.0091,-0.42,0.0049,-0.0021,-0.65,-0.00044,-0.0041,-7.3e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.0078,0.0078,0.00019,0.53,0.53,2.3,0.14,0.14,18,0.002,0.002,2.9e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-3490000,1,-0.011,-0.013,-5e-06,0.022,-0.012,-0.43,0.0069,-0.0031,-0.69,-0.00044,-0.0041,-7.3e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.0086,0.0086,0.00021,0.66,0.66,2.3,0.19,0.19,19,0.002,0.002,2.9e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
-3590000,1,-0.011,-0.012,1.8e-05,0.017,-0.011,-0.44,0.0047,-0.0023,-0.73,-0.00055,-0.0044,-7.5e-05,0,0,-0.00017,0,0,0,0,0,0,0,0,0.007,0.007,0.00018,0.49,0.49,2.4,0.13,0.13,20,0.0017,0.0017,2.5e-05,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
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+34190000,-0.27,0.016,-0.0081,0.96,0.04,0.097,-0.06,0.093,-0.019,-0.038,-0.0013,-0.0057,2.4e-05,0.075,-0.034,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00034,0.042,0.02,0.022,0.005,0.36,0.37,0.03,2.6e-07,2.4e-07,2.1e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
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+34590000,-0.27,0.016,-0.0078,0.96,0.049,0.093,0.74,0.091,-0.026,-0.022,-0.0013,-0.0057,2.3e-05,0.076,-0.033,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00033,0.042,0.019,0.021,0.005,0.38,0.38,0.03,2.6e-07,2.3e-07,2.1e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
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+34890000,-0.27,0.015,-0.0077,0.96,0.071,0.088,3.7,0.096,-0.021,0.57,-0.0013,-0.0057,2.5e-05,0.077,-0.033,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00033,0.042,0.021,0.023,0.005,0.4,0.41,0.03,2.6e-07,2.3e-07,2e-06,0.028,0.028,0.0001,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1

src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp

@@ -314,13 +314,3 @@ float EkfWrapper::getMagHeadingNoise() const
 {
 	return _ekf_params->mag_heading_noise;
 }
-
-void EkfWrapper::enableGyroBiasEstimation()
-{
-	_ekf_params->imu_ctrl |= static_cast<int32_t>(ImuCtrl::GyroBias);
-}
-
-void EkfWrapper::disableGyroBiasEstimation()
-{
-	_ekf_params->imu_ctrl &= ~static_cast<int32_t>(ImuCtrl::GyroBias);
-}

src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h

@@ -128,9 +128,6 @@ public:
 
 	float getMagHeadingNoise() const;
 
-	void enableGyroBiasEstimation();
-	void disableGyroBiasEstimation();
-
 private:
 	std::shared_ptr<Ekf> _ekf;
 

src/modules/ekf2/test/test_EKF_gps_yaw.cpp

@@ -81,10 +81,9 @@ public:
 void EkfGpsHeadingTest::runConvergenceScenario(float yaw_offset_rad, float antenna_offset_rad)
 {
 	// GIVEN: an initial GPS yaw, not aligned with the current one
-	// The yaw antenna offset has already been corrected in the driver
-	float gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle());
+	float gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle() + yaw_offset_rad);
 
-	_sensor_simulator._gps.setYaw(gps_heading); // used to remove the correction to fuse the real measurement
+	_sensor_simulator._gps.setYaw(gps_heading);
 	_sensor_simulator._gps.setYawOffset(antenna_offset_rad);
 
 	// WHEN: the GPS yaw fusion is activated
@@ -92,7 +91,7 @@ void EkfGpsHeadingTest::runConvergenceScenario(float yaw_offset_rad, float anten
 	_sensor_simulator.runSeconds(5);
 
 	// THEN: the estimate is reset and stays close to the measurement
-	checkConvergence(gps_heading, 0.01f);
+	checkConvergence(gps_heading, 0.05f);
 }
 
 void EkfGpsHeadingTest::checkConvergence(float truth, float tolerance_deg)

src/modules/ekf2/test/test_EKF_initialization.cpp

@@ -191,32 +191,6 @@ TEST_F(EkfInitializationTest, initializeWithZeroTiltNotAtRest)
 	learningCorrectAccelBias();
 }
 
-TEST_F(EkfInitializationTest, initializeWithTiltNoGyroBiasEstimate)
-{
-	const float pitch = math::radians(30.0f);
-	const float roll = math::radians(-20.0f);
-	const Eulerf euler_angles_sim(roll, pitch, 0.0f);
-	const Quatf quat_sim(euler_angles_sim);
-
-	_ekf_wrapper.disableGyroBiasEstimation();
-	_sensor_simulator.simulateOrientation(quat_sim);
-
-	_sensor_simulator.runSeconds(_init_tilt_period);
-
-	EXPECT_TRUE(_ekf->control_status_flags().tilt_align);
-
-	initializedOrienationIsMatchingGroundTruth(quat_sim);
-	quaternionVarianceBigEnoughAfterOrientationInitialization(0.00001f);
-
-	velocityAndPositionCloseToZero();
-
-	positionVarianceBigEnoughAfterOrientationInitialization(0.00001f); // Fake position fusion obs var when at rest sq(0.5f)
-	velocityVarianceBigEnoughAfterOrientationInitialization(0.0001f);
-
-	_sensor_simulator.runSeconds(1.f);
-	learningCorrectAccelBias();
-}
-
 TEST_F(EkfInitializationTest, gyroBias)
 {
 	// GIVEN: a healthy filter
@@ -346,7 +320,7 @@ TEST_F(EkfInitializationTest, initializeWithTiltNotAtRest)
 	_ekf->set_vehicle_at_rest(false);
 	_sensor_simulator.simulateOrientation(quat_sim);
 	//_sensor_simulator.runSeconds(_init_tilt_period);
-	_sensor_simulator.runSeconds(10);
+	_sensor_simulator.runSeconds(7);
 
 	EXPECT_TRUE(_ekf->control_status_flags().tilt_align);
 

src/modules/logger/logged_topics.cpp

@@ -53,7 +53,6 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic("autotune_attitude_control_status", 100);
 	add_optional_topic("camera_capture");
 	add_optional_topic("camera_trigger");
-	add_optional_topic("can_interface_status", 10);
 	add_topic("cellular_status", 200);
 	add_topic("commander_state");
 	add_topic("config_overrides");
@@ -164,7 +163,6 @@ void LoggedTopics::add_default_topics()
 	add_topic("estimator_gnss_hgt_bias", 500);
 	add_topic("estimator_rng_hgt_bias", 500);
 	add_topic("estimator_ev_pos_bias", 500);
-	add_topic("estimator_event_flags", 0);
 	add_topic("estimator_gps_status", 1000);
 	add_topic("estimator_innovation_test_ratios", 500);
 	add_topic("estimator_innovation_variances", 500);
@@ -180,7 +178,6 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic_multi("estimator_gnss_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("estimator_rng_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("estimator_ev_pos_bias", 500, MAX_ESTIMATOR_INSTANCES);
-	add_optional_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("estimator_gps_status", 1000, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("estimator_innovation_variances", 500, MAX_ESTIMATOR_INSTANCES);
@@ -267,7 +264,6 @@ void LoggedTopics::add_default_topics()
 	add_topic("estimator_gnss_hgt_bias");
 	add_topic("estimator_rng_hgt_bias");
 	add_topic("estimator_ev_pos_bias");
-	add_topic("estimator_event_flags");
 	add_topic("estimator_gps_status");
 	add_topic("estimator_innovation_test_ratios");
 	add_topic("estimator_innovation_variances");

src/modules/mavlink/mavlink

@@ -1 +1 @@
-Subproject commit a3558d6b335d930fc01816fd168d16b3f38ed434
+Subproject commit c4a5c497379ca873f73abe691a033641a6a5a817

src/modules/mavlink/mavlink_messages.cpp

@@ -132,7 +132,6 @@
 #if !defined(CONSTRAINED_FLASH)
 # include "streams/ADSB_VEHICLE.hpp"
 # include "streams/AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.hpp"
-# include "streams/BATTERY_INFO.hpp"
 # include "streams/DEBUG.hpp"
 # include "streams/DEBUG_FLOAT_ARRAY.hpp"
 # include "streams/DEBUG_VECT.hpp"
@@ -148,6 +147,7 @@
 # include "streams/ODOMETRY.hpp"
 # include "streams/SCALED_PRESSURE2.hpp"
 # include "streams/SCALED_PRESSURE3.hpp"
+# include "streams/SMART_BATTERY_INFO.hpp"
 # include "streams/UAVIONIX_ADSB_OUT_CFG.hpp"
 # include "streams/UAVIONIX_ADSB_OUT_DYNAMIC.hpp"
 # include "streams/UTM_GLOBAL_POSITION.hpp"
@@ -259,9 +259,9 @@ static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamSysStatus>(),
 #endif // SYS_STATUS_HPP
 	create_stream_list_item<MavlinkStreamBatteryStatus>(),
-#if defined(BATTERY_INFO_HPP)
-	create_stream_list_item<MavlinkStreamBatteryInfo>(),
-#endif // BATTERY_INFO_HPP
+#if defined(SMART_BATTERY_INFO_HPP)
+	create_stream_list_item<MavlinkStreamSmartBatteryInfo>(),
+#endif // SMART_BATTERY_INFO_HPP
 #if defined(HIGHRES_IMU_HPP)
 	create_stream_list_item<MavlinkStreamHighresIMU>(),
 #endif // HIGHRES_IMU_HPP

src/modules/mavlink/streams/SMART_BATTERY_INFO.hpp

@@ -31,30 +31,30 @@
  *
  ****************************************************************************/
 
-#ifndef BATTERY_INFO_HPP
-#define BATTERY_INFO_HPP
+#ifndef SMART_BATTERY_INFO_HPP
+#define SMART_BATTERY_INFO_HPP
 
 #include <uORB/topics/battery_status.h>
 
-class MavlinkStreamBatteryInfo : public MavlinkStream
+class MavlinkStreamSmartBatteryInfo : public MavlinkStream
 {
 public:
-	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamBatteryInfo(mavlink); }
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamSmartBatteryInfo(mavlink); }
 
-	static constexpr const char *get_name_static() { return "BATTERY_INFO"; }
-	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_BATTERY_INFO; }
+	static constexpr const char *get_name_static() { return "SMART_BATTERY_INFO"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SMART_BATTERY_INFO; }
 
 	const char *get_name() const override { return get_name_static(); }
 	uint16_t get_id() override { return get_id_static(); }
 
 	unsigned get_size() override
 	{
-		static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_BATTERY_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+		static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_SMART_BATTERY_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 		return size_per_battery * _battery_status_subs.advertised_count();
 	}
 
 private:
-	explicit MavlinkStreamBatteryInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+	explicit MavlinkStreamSmartBatteryInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {}
 
 	uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
 
@@ -67,50 +67,36 @@ private:
 
 			if (battery_sub.update(&battery_status)) {
 				if (battery_status.serial_number == 0) {
-					// Required to emit
+					// This is not smart battery
 					continue;
 				}
 
-				mavlink_battery_info_t msg{};
+				mavlink_smart_battery_info_t msg{};
 
 				msg.id = battery_status.id - 1;
-				msg.design_capacity = (float)(battery_status.capacity * 1000);
-				msg.full_charge_capacity = (float)(battery_status.state_of_health * battery_status.capacity * 1000.f) / 100.f;
+				msg.capacity_full_specification = battery_status.capacity;
+				msg.capacity_full = (int32_t)((float)(battery_status.state_of_health * battery_status.capacity) / 100.f);
 				msg.cycle_count = battery_status.cycle_count;
 
 				if (battery_status.manufacture_date) {
 					uint16_t day = battery_status.manufacture_date % 32;
 					uint16_t month = (battery_status.manufacture_date >> 5) % 16;
-					uint16_t year = (80 + (battery_status.manufacture_date >> 9));
-					uint16_t year2dig = year % 100;
+					uint16_t year = (80 + (battery_status.manufacture_date >> 9)) % 100;
 
-					//Formatted as 'ddmmyyyy' (maxed 9 chars)
-					snprintf(msg.manufacture_date, sizeof(msg.manufacture_date), "%d%d%d", day, month, year);
 					//Formatted as 'dd/mm/yy-123456' (maxed 15 + 1 chars)
-					snprintf(msg.serial_number, sizeof(msg.serial_number), "%d/%d/%d-%d", day, month, year2dig,
-						 battery_status.serial_number);
+					snprintf(msg.serial_number, sizeof(msg.serial_number), "%d/%d/%d-%d", day, month, year, battery_status.serial_number);
 
 				} else {
-
 					snprintf(msg.serial_number, sizeof(msg.serial_number), "%d", battery_status.serial_number);
 				}
 
-				// Not supported by PX4 (not in battery_status uorb topic)
-				/*
-				msg.name = 0; // char[50]
-				msg.weight = 0;
-				msg.discharge_minimum_voltage = 0;
-				msg.charging_minimum_voltage = 0;
-				msg.resting_minimum_voltage = 0;
-				msg.charging_maximum_voltage = 0;
-				msg.charging_maximum_current = 0;
-				msg.discharge_maximum_current = 0;
-				msg.discharge_maximum_burst_current = 0;
-				msg.cells_in_series = 0;
-				msg.nominal_voltage = 0;
-				*/
+				//msg.device_name = ??
+				msg.weight = -1;
+				msg.discharge_minimum_voltage = -1;
+				msg.charging_minimum_voltage = -1;
+				msg.resting_minimum_voltage = -1;
 
-				mavlink_msg_battery_info_send_struct(_mavlink->get_channel(), &msg);
+				mavlink_msg_smart_battery_info_send_struct(_mavlink->get_channel(), &msg);
 				updated = true;
 			}
 		}
@@ -119,4 +105,4 @@ private:
 	}
 };
 
-#endif // BATTERY_INFO_HPP
+#endif // SMART_BATTERY_INFO_HPP

src/modules/mc_pos_control/MulticopterPositionControl.cpp

@@ -167,7 +167,6 @@ void MulticopterPositionControl::parameters_update(bool force)
 			Vector3f(_param_mpc_xy_vel_i_acc.get(), _param_mpc_xy_vel_i_acc.get(), _param_mpc_z_vel_i_acc.get()),
 			Vector3f(_param_mpc_xy_vel_d_acc.get(), _param_mpc_xy_vel_d_acc.get(), _param_mpc_z_vel_d_acc.get()));
 		_control.setHorizontalThrustMargin(_param_mpc_thr_xy_marg.get());
-		_control.decoupleHorizontalAndVecticalAcceleration(_param_mpc_acc_decouple.get());
 		_goto_control.setParamMpcAccHor(_param_mpc_acc_hor.get());
 		_goto_control.setParamMpcAccDownMax(_param_mpc_acc_down_max.get());
 		_goto_control.setParamMpcAccUpMax(_param_mpc_acc_up_max.get());

src/modules/mc_pos_control/MulticopterPositionControl.hpp

@@ -146,7 +146,6 @@ private:
 		(ParamFloat<px4::params::MPC_TILTMAX_AIR>)  _param_mpc_tiltmax_air,
 		(ParamFloat<px4::params::MPC_THR_HOVER>)    _param_mpc_thr_hover,
 		(ParamBool<px4::params::MPC_USE_HTE>)       _param_mpc_use_hte,
-		(ParamBool<px4::params::MPC_ACC_DECOUPLE>)  _param_mpc_acc_decouple,
 
 		// Takeoff / Land
 		(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time, /**< time to let motors spool up after arming */

src/modules/mc_pos_control/PositionControl/PositionControl.cpp

@@ -204,20 +204,13 @@ void PositionControl::_velocityControl(const float dt)
 void PositionControl::_accelerationControl()
 {
 	// Assume standard acceleration due to gravity in vertical direction for attitude generation
-	float z_specific_force = -CONSTANTS_ONE_G;
-
-	if (!_decouple_horizontal_and_vertical_acceleration) {
-		// Include vertical acceleration setpoint for better horizontal acceleration tracking
-		z_specific_force += _acc_sp(2);
-	}
-
-	Vector3f body_z = Vector3f(-_acc_sp(0), -_acc_sp(1), -z_specific_force).normalized();
+	Vector3f body_z = Vector3f(-_acc_sp(0), -_acc_sp(1), CONSTANTS_ONE_G).normalized();
 	ControlMath::limitTilt(body_z, Vector3f(0, 0, 1), _lim_tilt);
-	// Convert to thrust assuming hover thrust produces standard gravity
-	const float thrust_ned_z = _acc_sp(2) * (_hover_thrust / CONSTANTS_ONE_G) - _hover_thrust;
+	// Scale thrust assuming hover thrust produces standard gravity
+	float collective_thrust = _acc_sp(2) * (_hover_thrust / CONSTANTS_ONE_G) - _hover_thrust;
 	// Project thrust to planned body attitude
-	const float cos_ned_body = (Vector3f(0, 0, 1).dot(body_z));
-	const float collective_thrust = math::min(thrust_ned_z / cos_ned_body, -_lim_thr_min);
+	collective_thrust /= (Vector3f(0, 0, 1).dot(body_z));
+	collective_thrust = math::min(collective_thrust, -_lim_thr_min);
 	_thr_sp = body_z * collective_thrust;
 }
 

src/modules/mc_pos_control/PositionControl/PositionControl.hpp

@@ -163,11 +163,6 @@ public:
 	 */
 	void resetIntegral() { _vel_int.setZero(); }
 
-	/**
-	 * If set, the tilt setpoint is computed by assuming no vertical acceleration
-	 */
-	void decoupleHorizontalAndVecticalAcceleration(bool val) { _decouple_horizontal_and_vertical_acceleration = val; }
-
 	/**
 	 * Get the controllers output local position setpoint
 	 * These setpoints are the ones which were executed on including PID output and feed-forward.
@@ -216,7 +211,6 @@ private:
 	float _lim_tilt{}; ///< Maximum tilt from level the output attitude is allowed to have
 
 	float _hover_thrust{}; ///< Thrust [HOVER_THRUST_MIN, HOVER_THRUST_MAX] with which the vehicle hovers not accelerating down or up with level orientation
-	bool _decouple_horizontal_and_vertical_acceleration{true}; ///< Ignore vertical acceleration setpoint to remove its effect on the tilt setpoint
 
 	// States
 	matrix::Vector3f _pos; /**< current position */

src/modules/mc_pos_control/multicopter_position_control_limits_params.c

@@ -138,13 +138,3 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
  * @group Multicopter Position Control
  */
 PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.f);
-
-/**
- * Acceleration to tilt coupling
- *
- * Set to decouple tilt from vertical acceleration.
- *
- * @boolean
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_INT32(MPC_ACC_DECOUPLE, 1);

src/modules/muorb/apps/CMakeLists.txt

@@ -39,7 +39,7 @@ px4_add_module(
 	INCLUDES
 		../test
 		../aggregator
-		${PX4_BOARD_DIR}/libfc-sensor-api/inc
+		libfc-sensor-api/inc
 	SRCS
 		uORBAppsProtobufChannel.cpp
 		muorb_main.cpp

src/modules/muorb/apps/Kconfig

@@ -4,11 +4,3 @@ menuconfig MODULES_MUORB_APPS
 	depends on PLATFORM_POSIX
 	---help---
 		Enable support for muorb apps
-
-
-    config MUORB_APPS_SYNC_TIMESTAMP
-        bool "Sync timestamp with external processor"
-        depends on MODULES_MUORB_APPS
-        default y
-        help
-            causes HRT timestamp to use an externally calculated offset for synchronization

src/modules/navigator/mission_base.cpp

@@ -253,7 +253,6 @@ MissionBase::on_active()
 
 	updateMavlinkMission();
 	updateDatamanCache();
-	updateMissionAltAfterHomeChanged();
 
 	/* Check the mission */
 	if (!_mission_checked && canRunMissionFeasibility()) {
@@ -1376,29 +1375,3 @@ bool MissionBase::canRunMissionFeasibility()
 	       (_geofence_status_sub.get().geofence_id == _mission.geofence_id) &&
 	       (_geofence_status_sub.get().status == geofence_status_s::GF_STATUS_READY);
 }
-
-void MissionBase::updateMissionAltAfterHomeChanged()
-{
-	if (_navigator->get_home_position()->update_count > _home_update_counter) {
-		float new_alt = get_absolute_altitude_for_item(_mission_item);
-		float altitude_diff = new_alt - _navigator->get_position_setpoint_triplet()->current.alt;
-
-		if (_navigator->get_position_setpoint_triplet()->previous.valid
-		    && PX4_ISFINITE(_navigator->get_position_setpoint_triplet()->previous.alt)) {
-			_navigator->get_position_setpoint_triplet()->previous.alt = _navigator->get_position_setpoint_triplet()->previous.alt +
-					altitude_diff;
-		}
-
-		_navigator->get_position_setpoint_triplet()->current.alt = _navigator->get_position_setpoint_triplet()->current.alt +
-				altitude_diff;
-
-		if (_navigator->get_position_setpoint_triplet()->next.valid
-		    && PX4_ISFINITE(_navigator->get_position_setpoint_triplet()->next.alt)) {
-			_navigator->get_position_setpoint_triplet()->next.alt = _navigator->get_position_setpoint_triplet()->next.alt +
-					altitude_diff;
-		}
-
-		_navigator->set_position_setpoint_triplet_updated();
-		_home_update_counter = _navigator->get_home_position()->update_count;
-	}
-}

src/modules/navigator/mission_base.h

@@ -448,16 +448,8 @@ private:
 	 */
 	bool checkMissionDataChanged(mission_s new_mission);
 
-	/**
-	 * @brief update current mission altitude after the home position has changed.
-	 */
-
-	void updateMissionAltAfterHomeChanged();
-
 	bool canRunMissionFeasibility();
 
-	uint32_t _home_update_counter = 0; /**< Variable to store the previous value for home change detection.*/
-
 	bool _align_heading_necessary{false}; // if true, heading of vehicle needs to be aligned with heading of next waypoint. Used to create new mission items for heading alignment.
 
 	mission_item_s _last_gimbal_configure_item {};

src/modules/px4iofirmware/mixer.cpp

@@ -180,19 +180,15 @@ mixer_tick()
 	 * Run the mixers.
 	 */
 	if (source == MIX_FAILSAFE) {
-		// Set failsafe value if the PWM output isn't disabled
+		/* copy failsafe values to the servo outputs */
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
-			if (r_page_servos[i] != 0) {
-				r_page_servos[i] = r_page_servo_failsafe[i];
-			}
+			r_page_servos[i] = r_page_servo_failsafe[i];
 		}
 
 	} else if (source == MIX_DISARMED) {
-		// Set disarmed value if the PWM output isn't disabled
+		/* copy disarmed values to the servo outputs */
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
-			if (r_page_servos[i] != 0) {
-				r_page_servos[i] = r_page_servo_disarmed[i];
-			}
+			r_page_servos[i] = r_page_servo_disarmed[i];
 		}
 	}
 

src/modules/zenoh/Kconfig.topics

@@ -177,10 +177,6 @@ menu "Zenoh publishers/subscribers"
 		bool "estimator_bias3d"
 		default n
 
-	config ZENOH_PUBSUB_ESTIMATOR_EVENT_FLAGS
-		bool "estimator_event_flags"
-		default n
-
 	config ZENOH_PUBSUB_ESTIMATOR_GPS_STATUS
 		bool "estimator_gps_status"
 		default n
@@ -874,7 +870,6 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_ESTIMATOR_AID_SOURCE3D
 	select ZENOH_PUBSUB_ESTIMATOR_BIAS
 	select ZENOH_PUBSUB_ESTIMATOR_BIAS3D
-	select ZENOH_PUBSUB_ESTIMATOR_EVENT_FLAGS
 	select ZENOH_PUBSUB_ESTIMATOR_GPS_STATUS
 	select ZENOH_PUBSUB_ESTIMATOR_INNOVATIONS
 	select ZENOH_PUBSUB_ESTIMATOR_SELECTOR_STATUS

src/systemcmds/sd_bench/sd_bench.cpp

@@ -50,8 +50,6 @@
 
 #include <drivers/drv_hrt.h>
 
-#define MAX(a,b) ((a) > (b) ? (a) : (b))
-
 typedef struct sdb_config {
 	int num_runs; ///< number of runs
 	int run_duration; ///< duration of a single run [ms]
@@ -204,7 +202,6 @@ void write_test(int fd, sdb_config_t *cfg, uint8_t *block, int block_size)
 	unsigned int total_blocks = 0;
 	cfg->total_blocks_written = 0;
 	unsigned int *blocknumber = (unsigned int *)(void *)&block[0];
-	unsigned int max_max_write_time = 0;
 
 	for (int run = 0; run < cfg->num_runs; ++run) {
 		hrt_abstime start = hrt_absolute_time();
@@ -248,12 +245,10 @@ void write_test(int fd, sdb_config_t *cfg, uint8_t *block, int block_size)
 
 		total_elapsed += elapsed;
 		total_blocks += num_blocks;
-		max_max_write_time = MAX(max_max_write_time, max_write_time);
 	}
 
 	cfg->total_blocks_written = total_blocks;
 	PX4_INFO("  Avg   : %8.2lf KB/s", (double)block_size * total_blocks / total_elapsed / 1024.);
-	PX4_INFO("  Overall max write time: %i ms", max_max_write_time);
 }
 
 int read_test(int fd, sdb_config_t *cfg, uint8_t *block, int block_size)